Method for improving ranging precision of plane laser point cloud
A technology of distance measurement accuracy and planar laser, which is applied in the directions of measuring devices, electromagnetic wave reradiation, radio wave measurement system, etc., to achieve the effect of improving the distance measurement accuracy
Active Publication Date: 2019-11-19
岭纬科技(厦门)有限公司
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[0003] The present invention provides a method for improving the accuracy of plane laser point cloud ranging, to at least solve the problem of the accuracy of laser ranging in the prior art
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[0034] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the present invention, rather than Full examples.
[0035] The method of the embodiment of the present invention is as follows:
[0036] Step 1. Calculate the point cloud according to the rotation angle of the galvanometer and the obtained Tof (time of fly air flight time), and obtain the space coordinate K of the Cartesian coordinate system of each point i (x,y,z), the calculation formula is as follows:
[0037] At any time, the galvanometer mems will generate a specific attitude. After the laser hits the rotating mirror, it will output the current attitude data to the processor, mainly two data, one is the current point K and the origin O of the Cartesian coordinate system The angle α between the connection...
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The invention provides a method for improving the ranging precision of a plane laser point cloud. The method comprises the following steps: 1, controlling a laser radar to work and obtain the point cloud, and calculating spatial coordinates of all points in the point cloud; 2, according to the spatial coordinates of the points, and a vertical open angle gamma and a horizontal open angle theta of the point cloud, performing conversion to form two-dimensional matrix elements, and obtaining position coordinates of the points in a matrix; 3, in the two-dimensional matrix, searching for all effective elements A according to the position coordinates of the points in the step 2, and creating a window with the size of G*G by taking each effective element A as the center, wherein G is an odd number, and each window contains a plurality of effective elements K1, K2, ..., Kn; 4, determining whether the central point A in each window is a discrete point or not; and 5, outputting the central pointA which is a non-discrete point to obtain an accurate distance. The method for improving the ranging precision of the plane laser point cloud can effectively solve the problem of low laser ranging precision in the prior art.
Description
technical field [0001] The invention relates to a method for improving the distance measurement accuracy of a plane laser point cloud, in particular to a method for improving the distance measurement accuracy of a plane laser point cloud while filtering the discrete point algorithm calculation process. Background technique [0002] As an important device, laser radar has important applications in the fields of security monitoring and automatic driving. When laser radar emits laser light and reflects it back to receive, the ideal result is to display a very thin curved surface corresponding to the real object, but in reality The test surface is not an ideal ultra-thin surface, but a 3D image of a point cloud with a certain thickness, which will seriously affect the accuracy of the test and limit the use of lidar. The present invention processes the received point cloud data to restore it to a state close to the ideal curved surface, thereby improving the accuracy of distance ...
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IPC IPC(8): G01S17/08G01S7/481G01S7/48
CPCG01S7/4802G01S7/4808G01S7/4817G01S17/08
Inventor 路静峰洪溪森林坚
Owner 岭纬科技(厦门)有限公司