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Method for constructing grid map by using laser radar and binocular camera

A binocular camera and lidar technology, applied in the field of image processing and computer vision, can solve the problems of the binocular camera with large influence of illumination and texture, poor anti-interference ability, high price, etc. The effect of high algorithm efficiency and simple program

Active Publication Date: 2020-03-24
DALIAN UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

The three sensors have inevitable shortcomings due to their own characteristics. The binocular camera is greatly affected by light and texture, and the range of the depth camera is limited.
Poor anti-interference ability, lidar or millimeter wave radar is expensive and data is sparse
It can be seen that the grid map constructed by a single sensor cannot completely and accurately reflect the structure of the scene.

Method used

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  • Method for constructing grid map by using laser radar and binocular camera
  • Method for constructing grid map by using laser radar and binocular camera
  • Method for constructing grid map by using laser radar and binocular camera

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Embodiment Construction

[0029] The present invention proposes a method for constructing a grid map using a laser radar and a binocular camera, which is described in detail in conjunction with the accompanying drawings and embodiments as follows:

[0030] The overall process is as figure 1 , first the disparity map D is obtained by the sensor l and D s ,Such as Figure 5 , and then use the calibration results to complete the parallax fusion, and construct a raster map, and finally display it. The method of the present invention comprises the following steps:

[0031] 1) Sensor registration

[0032] Such as figure 2 The lower part first calibrates the sensor with a calibration object. Let the point cloud converted from the lidar disparity map be P l , the point cloud of the binocular camera is P s . When the pose is T, make the point satisfy And the number of point pairs reaches the maximum, and the pose T at this time is the calibration result.

[0033] Such as figure 2 Upper calibrat...

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Abstract

The invention discloses a method for constructing a grid map by using a laser radar and a binocular camera, and belongs to the field of image processing and computer vision. Sensor registration is completed by using a rigorous registration strategy, and system efficiency is improved from the hardware level. A high-performance computing platform is created by utilizing a GPU, and a high-performance solving algorithm is created to construct the grid map. A system is easy to construct, simple in program and easy to implement. A laser radar and a binocular camera enable the algorithm to be strongin robustness and high in precision.

Description

technical field [0001] The invention belongs to the fields of image processing and computer vision. Using the characteristics of lidar and binocular cameras to make up for each other's shortcomings, making the construction of grid maps more precise and accurate. It is a method for constructing raster maps using multiple sensors. Background technique [0002] In recent years, with the development of artificial intelligence, mobile robots and autonomous vehicles have attracted more and more attention, and one of the main problems that needs to be solved is map construction. Grid map is the most common type of map in unmanned navigation, so how to construct a fast and accurate grid map has become a very important issue in mobile robots and unmanned vehicles. The mainstream method at this stage roughly uses three kinds of sensors, binocular camera, depth camera and radar. Due to their own characteristics, the three sensors have inevitable shortcomings. The binocular camera is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/38G06T7/80G06T5/50G01S17/89G01S17/02
CPCG01S17/89G06T5/50G06T17/05G06T2207/10028G06T2207/10044G06T2207/20221G06T2207/20228G06T7/38G06T7/85
Inventor 仲维李豪杰陈圣伦王智慧罗钟铉刘日升樊鑫
Owner DALIAN UNIV OF TECH