Dynamic expansion method and system for angle of view of all-solid-state laser radars, and storage medium

Abstract

The invention discloses a dynamic expansion method and system for angle of view of all-solid-state laser radars, and a storage medium, and the method comprises the following steps of obtaining a return depth data matrix measured by a single solid-state laser radar; obtaining a corresponding point cloud matrix by calculating the return depth data matrix of the single solid-state laser radar; obtaining an attitude parameter of a three-axis acceleration attitude sensor after measurement motion, and calculating a point cloud rotation matrix according to the post-motion attitude parameter; performing point cloud data fusion on the point cloud matrixes and the point cloud rotation matrixes of all the solid-state laser radars to obtain a final depth data matrix and a final point cloud data matrixof the extended integrated solid-state laser radar; and performing point cloud data rendering on the final depth data matrix and the final point cloud data matrix to obtain the field-of-sight data ofthe extended integrated solid-state laser radar. The all-solid-state laser radar field-of-view angular dynamic expansion method provided by the invention realizes the expansion of the angle of view of the all-solid-state laser radar and reduces measurement blind zones caused by the angle of view.

Description

technical field [0001] The invention relates to the technical field of all-solid-state laser radar, and in particular, to a method, system and storage medium for dynamically expanding the field of view angle of all-solid-state laser radar. Background technique [0002] Compared with mechanical or hybrid solid-state lidars, all-solid-state lidars do not contain any rotating components, and have simple structure, high precision, small size, and low cost. They have become the research and development direction of a major mainstream technology at present; Lidar includes MEMS lidar, optical phased array (OPA) lidar, 3DFLASH lidar, etc. Among them, the area of ​​MEMS micro-galvanometer is an important factor affecting the detection field of view, and MEMS has high cost, poor reliability, and difficult to measure. Produce. [0003] At present, the field of view in the horizontal and vertical directions for all-solid-state lidar detection is achieved electronically, resulting in a ...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide an all-solid-state laser radar field of view dynamic expansion method, system and storage medium for the above-mentioned defects of the prior art, aiming at When expanding the field of view in the prior art, the angle between adjacent pixels increases, resulting in an increase in the distance measurement error at the edge of the measured object and some small objects.

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