A method to improve the ranging accuracy of planar 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: 2021-04-27
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 accuracy of plane laser point clouds, comprising: Step 1. Control the laser radar to work and obtain point clouds, and calculate the spatial coordinates of each point in the point cloud; Step 2. According to the distance of each point Space coordinates and the vertical opening angle γ and the horizontal opening angle θ of the point cloud are converted into two-dimensional matrix elements, and the position coordinates of each point in this matrix are obtained; Step 3. In this two-dimensional matrix, follow the steps The position coordinates of each point in 2, search for each effective element A, and create a window of G*G size with each effective element A as the center, G is an odd number, and the window contains several effective elements K1, K2, ..., Kn; Step 4. Determine whether the center point A in each window is a discrete point; Step 5. Output the center point A as a non-discrete point to obtain an accurate distance. The accuracy method of plane laser point cloud ranging of the present invention effectively solves the problem of accuracy of laser ranging 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