Remote obstacle detection method based on laser radar multi-frame point cloud fusion

Abstract

The invention discloses a remote obstacle detection method based on laser radar multi-frame point cloud fusion. A local coordinate system and a world coordinate system are established, an extraction feature point of each laser point is calculated on an annular scanning line of the laser radar according to the original point cloud data under the local coordinate system, and the global pose of the current position relative to the initial position and the de-distortion point cloud in the world coordinate system are obtained through inter-frame feature point matching and map feature point matching; the de-distortion point clouds of the current frame and the previous frame are fused to obtain more compact de-distortion point cloud data, which is unified to the local coordinate system, then projection is performed on two-dimensional grids, and an obstacle is screened according to the height change features of each two-dimensional grid. According to the method in the invention, the problem that the detection rate of the remote barrier caused by sparse laser point clouds is low is solved, the remote barriers can be effectively detected, the error detection rate and the leak detection rateare low, and the system cost can be greatly reduced.

Description

technical field [0001] The invention relates to a robot obstacle detection method, in particular to a long-distance obstacle detection method based on lidar multi-frame point cloud fusion for unmanned vehicle navigation. Background technique [0002] In the field of autonomous navigation of unmanned vehicles, the traditional methods for obstacle detection include detection methods based on stereo vision, structured light, millimeter-wave radar and lidar. The detection method based on stereo vision uses the color, edge and texture features of obstacles in the image for feature extraction, compares them with the prior model, extracts obstacles, and then uses the parallax information of the same object between different cameras to obtain The depth of the obstacle, so as to determine the position of the obstacle. The disadvantage of this method is that it consumes a lot of computing resources, is easily affected by illumination, and because the conversion error from image pixel...

AI Technical Summary

Problems solved by technology

[0005] The method of the present invention can solve the problem of being unable to effectively detect long-distance obstacles caused by the sparseness of single-frame laser laser point clouds

Images