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A Method of Constructing Raster Map Using LiDAR and Stereo Camera

A binocular camera and laser radar technology, applied in the field of image processing and computer vision, can solve the problems of binocular camera with great influence on illumination and texture, poor anti-interference ability, high price, etc., to achieve finer and more accurate construction of grid maps, High algorithm efficiency and strong real-time effects

Active Publication Date: 2021-07-02
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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  • A Method of Constructing Raster Map Using LiDAR and Stereo Camera
  • A Method of Constructing Raster Map Using LiDAR and Stereo Camera
  • A Method of Constructing Raster Map Using LiDAR and Stereo Camera

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Embodiment Construction

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

[0030] The overall process is as figure 1 , first obtain the disparity map D from the sensor l and D s ,like Figure 5 , and then use the calibration results to complete parallax fusion, and build a raster map, which is finally displayed. The method of the present invention comprises the following steps:

[0031] 1) Sensor registration

[0032] like figure 2 The lower part first uses the calibration object to calibrate the sensor. 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 pair Satisfy And the number of point pairs reaches the maximum, and the pose T at this time is the calibration result.

[0033] like figure 2 Upper calibration time offset...

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Abstract

The invention discloses a method for constructing a grid map by using a laser radar and a binocular camera, belonging to the fields of image processing and computer vision. Use rigorous registration strategies to complete sensor registration and improve system efficiency from the hardware level. Use GPU to build a high-performance computing platform, and build a high-performance solution algorithm to build a raster map. The system is easy to build, the program is simple, and it is easy to implement; the use of lidar and binocular cameras makes the algorithm robust and accurate.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision. Utilize the characteristics of lidar and binocular camera to make up for each other's defects, making the construction of raster maps more precise and accurate. It is a method of building a grid map using multiple sensors. Background technique [0002] In recent years, with the development of artificial intelligence, mobile robots and automatic driving of cars have attracted more and more attention, and one of the main problems to be solved is map construction. The grid map is the most common type of map in unmanned navigation, so how to build a fast and accurate grid map has become a very important problem in mobile robots and unmanned vehicles. The mainstream methods at this stage roughly use three kinds of sensors, binocular camera, depth camera and radar. The three sensors have inevitable shortcomings due to their own characteristics. The binocular camera is greatly affe...

Claims

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Application Information

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Patent Type & Authority Patents(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