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Non-iterative point cloud matching method, medium, terminal and device

A point cloud matching, non-iterative technology, applied in the field of navigation and positioning

Pending Publication Date: 2020-04-10
SHANGHAI YOGO ROBOTICS CO LTD
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  • Non-iterative point cloud matching method, medium, terminal and device
  • Non-iterative point cloud matching method, medium, terminal and device
  • Non-iterative point cloud matching method, medium, terminal and device

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[0050] In order to make the object, technical solution and beneficial technical effects of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific implementations described in this specification are only for explaining the present invention, not for limiting the present invention.

[0051] figure 1 is a schematic flow diagram of a non-iterative point cloud matching method provided in Embodiment 1 of the present invention, as figure 1 As shown, the method includes the following steps:

[0052] Step 1. Obtain two adjacent frames of point cloud data, the first frame is the reference point cloud, and the second frame is the current point cloud;

[0053] Step 2, performing coordinate transformation on two adjacent frames of point cloud data to generate a first grid matrix corresponding to the reference point cloud and a second gr...

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Abstract

The invention discloses a non-iterative point cloud matching method, a medium, a terminal and a device. The method comprises the following steps: acquiring two adjacent frames of point cloud data; coordinate transformation is carried out on two adjacent frames of point cloud data to generate a first grid matrix and a second grid matrix; performing Fourier transform on the first grid matrix and thesecond grid matrix to generate a first amplitude value matrix and a second amplitude value matrix; and transforming the first amplitude value matrix and the second amplitude value matrix by adoptinga phase correlation method to generate a pulse function for representing the translation amount and the rotation amount between the two frames of point clouds, and obtaining the relative transformation of the two frames of point clouds according to the pulse positions. According to the invention, the laser point cloud is used as a binary image; translation and rotation between two frames of pointclouds can be calculated by utilizing Fourier transform and a phase correlation algorithm in the field of image processing, and the method has the characteristics of high operation speed, easiness inobtaining real relative transform and the like, so that an effective guarantee is provided for quickly calculating the global position of the autonomous mobile robot in a scene.

Description

【Technical field】 [0001] The invention relates to the field of navigation and positioning, in particular to a non-iterative point cloud matching method, medium, terminal and device. 【Background technique】 [0002] With the continuous maturity of autonomous mobile robot technology research, its landing in the commercial environment has become a possible event. For the successful operation of an autonomous mobile robot in various scenarios, one capability is indispensable, which is the ability to determine its own position in the scenario. At present, the more popular positioning method in the industry is to use the current laser scanning point cloud to match with the previously built grid map to obtain the global position information. Since some scenes are very huge and the laser scanning range is limited, matching the current laser point cloud with the raster map will face a huge search cost. Note that the point cloud obtained by laser scanning is a description of the exte...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G06T7/30
CPCG06T7/30G06T2207/10028G06T2207/20048G06V10/751
Inventor 蔡龙生
Owner SHANGHAI YOGO ROBOTICS CO LTD
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