Laser radar and binocular camera data fusion detection method and system

A lidar and binocular camera technology, applied in image data processing, image analysis, image enhancement, etc., can solve the problems of lidar being unable to obtain map information, ensuring the accuracy of measurement, lack of visual texture, etc., and achieving good portability , The effect of improving the operation speed and improving the measurement accuracy

Active Publication Date: 2020-06-26
SHANDONG UNIV
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Problems solved by technology

[0003] With the continuous development of modern science and technology, new instruments continue to emerge, and the use of high-precision instruments in the industrial field has gradually spread. However, due to the complexity of industrial scenes, it is difficult to guarantee Accuracy of measurement; in structured scenes, the features that lidar can detect are insufficient, and the lack of visual texture will cause the odometer to drift; a single lidar cannot obtain map information of the environment

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  • Laser radar and binocular camera data fusion detection method and system
  • Laser radar and binocular camera data fusion detection method and system
  • Laser radar and binocular camera data fusion detection method and system

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[0032] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0034] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

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Abstract

The invention provides a laser radar and binocular camera data fusion detection method and system. The method includes: acquiring point cloud data of a detection area acquired by a laser radar; acquiring image data of a to-be-detected object acquired by the binocular camera; processing the image data, and segmenting the to-be-detected object to obtain point cloud, three-dimensional coordinates, postures and categories of the to-be-detected object; segmenting the directly acquired point cloud data to obtain target point cloud and three-dimensional coordinates thereof; and performing registration and overlapping rate calculation on the two pieces of point cloud data, if the overlapping rate is greater than a set value, outputting a three-dimensional coordinate result of the target point cloud, and otherwise, performing point cloud and image detection of the detection area again. And the target object position measurement precision is effectively improved.

Description

technical field [0001] The disclosure belongs to the technical field of detection data processing, and relates to a data fusion detection method and system of a laser radar and a binocular camera. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] With the continuous development of modern science and technology, new instruments continue to emerge, and the use of high-precision instruments in the industrial field has gradually spread. However, due to the complexity of industrial scenes, it is difficult to guarantee Accuracy of measurement; in structured scenes, lidar can detect insufficient features, and the lack of visual texture will cause odometer drift; a single lidar cannot obtain map information of the environment. Contents of the invention [0004] In order to solve the above problems, this disclosure proposes a laser radar and bino...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T5/50G06T7/10G06T7/33G06T7/80
CPCG06T7/0002G06T5/50G06T7/10G06T7/85G06T7/33G06T2207/10044G06T2207/10028G06T2207/20221
Inventor 王新立何萱宋锐江连杰王伟李贻斌
Owner SHANDONG UNIV
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