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Laser radar data validity detection method and device

A data validity and laser radar technology, applied in the field of intelligent robots, can solve the problems of laser radar data mismatch and other problems, and achieve the effect of improving accuracy

Active Publication Date: 2020-06-02
PUPPY ELECTRONICS APPLIANCES INTERNET TECH (BEIJING) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, when the robot is performing real-time positioning and map construction, when the environment it is in is a structured environment, the material properties (material, roughness, reflection, etc.) of the surface (ground, wall, obstacle surface) in the structured environment are uniform , the change of structure and size is regular and stable, and the environmental information (obstacles, wind, lighting, etc.) is fixed and other characteristics, which may easily cause mismatching of lidar data, resulting in large errors in the process of building maps

Method used

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  • Laser radar data validity detection method and device
  • Laser radar data validity detection method and device
  • Laser radar data validity detection method and device

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Embodiment 1

[0052] The embodiments of the present application provide a method for detecting the validity of lidar data, which will be described in detail below with reference to the accompanying drawings.

[0053] see figure 1 , which is a flowchart of a method for detecting the validity of lidar data provided by an embodiment of the present application.

[0054] The method described in the embodiment of the present application includes the following steps:

[0055] S101: Rotate the data so that the eigenvector corresponding to the covariance matrix of the data is parallel to the coordinate axis of the Cartesian coordinate system.

[0056]When using lidar to collect environmental data for map construction, the acquired data can be expressed in the form of {x1, y1}, {x2, y2}, ... {xn, yn}, where x represents the data in Cartesian The coordinates on the x-axis in the coordinate system, and y represents the coordinates of the data on the y-axis in the Cartesian coordinate system.

[0057...

Embodiment 2

[0093] Based on the method for detecting the validity of lidar data provided by the above embodiments, an embodiment of the present application further provides a device for detecting the validity of lidar data, which will be described in detail below with reference to the accompanying drawings.

[0094] see image 3 , which is a schematic diagram of an apparatus for detecting the validity of lidar data provided by an embodiment of the present application.

[0095] The apparatus described in this embodiment of the present application includes: a rotation unit 301 , an acquisition unit 302 , and a determination unit 303 .

[0096] The rotation unit 301 is configured to rotate the data so that the eigenvector corresponding to the covariance matrix of the data is parallel to the coordinate axis of the Cartesian coordinate system.

[0097] The optional rotation unit 301 specifically includes: a first acquisition subunit and a rotation subunit.

[0098] The first obtaining subuni...

Embodiment 3

[0114] Embodiments of the present application further provide a readable storage medium on which a program is stored, and when the program is executed by a processor, the method for detecting the validity of lidar data described in the above embodiments is implemented.

[0115] Embodiments of the present application further provide a processor, where the processor is configured to run a program, wherein when the program runs, the method for detecting the validity of lidar data described in the above embodiments is executed.

[0116] The embodiments of the present application also provide an electronic device, which will be described in detail below with reference to the accompanying drawings.

[0117] see Figure 4 , which is a schematic diagram of applying an electronic device to a method for detecting the validity of lidar data provided by an embodiment of the present application.

[0118] The electronic device 40 includes at least one processor 401 , and at least one memor...

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Abstract

The invention provides a laser radar data validity detection method and device, a related readable storage medium, an electronic device and a robot, and relates to the technical field of intelligent robots. The method is applied to the data acquired by a laser radar, and specifically comprises the following steps of rotating the data until a feature vector corresponding to a covariance matrix of the data is parallel to a coordinate axis of a Cartesian coordinate system; obtaining a first difference value of the maximum value and the minimum value of the projection length of the data on an abscissa axis, and obtaining a second difference value of the maximum value and the minimum value of the projection length of the data on an ordinate axis at the moment; and when the first difference value is greater than or equal to a first preset distance and the second difference value is greater than or equal to a second preset distance, determining that the data is valid. By utilizing the method,whether the data acquired by the laser radar is valid or not during map construction can be determined, so that the accuracy of the constructed map is improved.

Description

technical field [0001] The present application relates to the technical field of intelligent robots, and in particular, to a method and device for detecting the validity of lidar data. Background technique [0002] Robots can use lidar for real-time localization and map construction (Simultaneous Localization and Mapping, SLAM). The process can be described as: a robot is placed in an unknown location in an unknown environment, and the robot uses lidar to acquire data as it moves to build a map of the environment. [0003] However, when the robot performs real-time positioning and map construction, when the environment in which it is located is a structured environment, the material properties (material, roughness, reflection, etc.) of the surface (ground, wall, obstacle surface) of the structured environment are uniform. , the change of structure and size is regular and stable, and the characteristics of environmental information (obstacles, wind, lighting, etc.) are fixed...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 檀冲王颖张书新杜永全
Owner PUPPY ELECTRONICS APPLIANCES INTERNET TECH (BEIJING) CO LTD