Motion estimation method, motion estimation device, computer equipment and storage medium
A technology of motion estimation and computer program, applied in the direction of measuring device, re-radiation of electromagnetic waves, utilization of re-radiation, etc., can solve problems such as time-consuming
Active Publication Date: 2020-02-21
MEGVII BEIJINGTECH CO LTD +1
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[0003] However, it generally takes a certain amount of time for the laser sensor to collect each frame of data. When the laser radar is in high-speed motion, the collected measurement data often contains a large amount of motion distortion. Therefore, according to the measurement data containing a large amount of motion distortion There must be a large difference between the estimated motion posture and the real motion posture
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[0045] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0046] It can be understood that the terms "first", "second" and the like used in this application can be used to describe various conditional relationships herein, but these conditional relationships are not limited by these terms. These terms are only used to distinguish one conditional relationship from another conditional relationship.
[0047] figure 1 It is a structural block diagram of a motion estimation system provided by an embodiment of the present application. The motion estimation method provided by the embodiment of the present application can be applied to...
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The invention relates to a motion estimation method, a motion estimation device, computer equipment and a storage medium. The method comprises the following steps that: a first moment for acquiring afirst laser frame and a second moment for acquiring a second laser frame are determined, and the speed and pose of a target object at the first moment are determined; for each second laser point in the second laser frame, two first laser points are screened out from the first laser frame according to the first moment, the second moment, the speed and the pose, distances between the two first laserpoints and each second laser point meet a preset condition; a loss function is constructed according to a distance relation between the two first laser points with the distances between each second laser point and each of the two first laser points meet the preset condition; and a to-be-estimated parameter is determined according to the loss function. Therefore, the influence of motion distortionon the determination of the value of the to-be-estimated parameter is eliminated, and the estimated value of the to-be-estimated parameter is closer to a real motion parameter.
Description
technical field [0001] The present application relates to the technical field of radar positioning, and in particular to a motion estimation method, device, computer equipment and storage medium. Background technique [0002] With the continuous development of unmanned driving and mobile robot technology, the use of single-line lidar to estimate the motion attitude of mobile robots between two moments has been more and more widely used. In traditional technology, the use of single-line lidar to estimate the motion attitude between two moments often does not consider the motion state of unmanned vehicles or mobile robots, and it is considered that the laser data is collected in an instant. [0003] However, it generally takes a certain amount of time for the laser sensor to collect each frame of data. When the laser radar is in high-speed motion, the collected measurement data often contains a large amount of motion distortion. Therefore, according to the measurement data con...
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IPC IPC(8): G01S17/58G01S17/42G01S7/48
CPCG01S17/58G01S17/42G01S7/4808
Inventor 贺一家肖锡臻王智杰刘骁
Owner MEGVII BEIJINGTECH CO LTD