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Dynamic map construction method, system and medium based on lidar

A lidar and map construction technology, applied in image analysis, image enhancement, image data processing, etc., can solve problems such as high security risks, high costs, and blind spots, and achieve the effect of reducing costs

Active Publication Date: 2021-12-21
LEISHEN INTELLIGENT SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When using the electronic map to drive on the road, it is still necessary to perceive the real-time road condition information in the current scene manually or through the sensors installed on the vehicle, and the cost is relatively high
And because there may be blind spots in the manual observation area or the detection area of ​​the sensor, even if the electronic map is used in the driving process of the vehicle, there are still high potential safety hazards
Therefore, the existing electronic maps can no longer meet the needs of safe driving of vehicles, and urgently need to be improved.

Method used

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  • Dynamic map construction method, system and medium based on lidar
  • Dynamic map construction method, system and medium based on lidar
  • Dynamic map construction method, system and medium based on lidar

Examples

Experimental program
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Effect test

Embodiment 1

[0035] Figure 2A It is a flowchart of a lidar-based map construction method in Embodiment 1 of the present invention, Figure 2B and Figure 2D It is a schematic diagram of the current frame point cloud data provided by the embodiment of the present invention; Figure 2C is a schematic diagram of the last frame of point cloud data provided by the embodiment of the present invention. This embodiment is applicable to the construction of a dynamic electronic map containing real-time state information of a target object based on point cloud data collected by lidar. The method can be executed by the processing device in the surveying and mapping system of the embodiment of the present invention, and the processing device can be realized by software and / or hardware. like Figure 2A As shown, the method specifically includes the following steps:

[0036] S201. Perform target detection on current frame point cloud data collected by lidar, and determine at least one target area. ...

Embodiment 2

[0060] image 3 It is a flow chart of a lidar-based map construction method in Embodiment 2 of the present invention. This embodiment is based on the above-mentioned embodiment, and further optimization is carried out. Specifically, how to make the current frame point collected by the lidar Object detection is performed on the cloud data to determine the specific situation profile of at least one target area. like image 3 As shown, the operation process includes the following steps:

[0061] S301. Filter out the interfering point cloud data in the current frame of point cloud data collected by the lidar, and determine a region to be detected.

[0062] Wherein, the interfering point cloud data may be point cloud data corresponding to non-obstacles in the point cloud data, for example, it may include point cloud data corresponding to static objects (such as roads, buildings, rivers, grasslands, etc.) Noisy point cloud data during acquisition, etc.

[0063] Optionally, since...

Embodiment 3

[0080] Figure 4 It is a flow chart of a lidar-based map construction method in Embodiment 3 of the present invention. This embodiment is based on the above-mentioned embodiments and further optimized, and specifically provides a lidar-based map construction method. A preferred instance of , optionally, such as Figure 4 As shown, the method of the present embodiment includes the following steps:

[0081] S401. Convert the point cloud data of the lidar deployed at a fixed position from a radar coordinate system to a geocentric coordinate system.

[0082] Optionally, in this embodiment of the present invention, for each laser radar deployed at a fixed position, its point cloud data is sequentially converted from its radar coordinate system to a unified geocentric coordinate system. For example, it may be to convert the point cloud data of the lidar from its radar coordinate system to the 2000 National Geodetic Coordinate System (ie, CGCS2000 coordinate system) as the geocentr...

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Abstract

The embodiment of the invention discloses a lidar-based map construction method, system and medium. The method includes: performing target detection on the current frame of point cloud data collected by the laser radar, and determining at least one target area; according to the at least one target area and the tracking area of ​​the target object in the previous frame of point cloud data collected by the laser radar, Determine the tracking area of ​​the target object in the current frame point cloud data; determine the target object in the current frame point cloud according to the tracking area of ​​the target object in the current frame point cloud data and the state information of the target object in the previous frame point cloud data State information in the data; convert the state information of the target object in the current frame point cloud data to the earth coordinate system, and combine the static map elements to construct the current frame dynamic electronic map. The dynamic electronic map containing the real-time state information of the target object constructed by the present invention can comprehensively and accurately provide real-time road conditions, and better meet the requirements for safe driving of vehicles.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of laser radar, and in particular, to a method, system and medium for constructing a dynamic map based on laser radar. Background technique [0002] With the development of unmanned driving technology and navigation technology, the use of electronic maps is becoming more and more extensive. At present, when constructing an electronic map, the electronic map is usually constructed based on static object position information such as roads, buildings, rivers, and lawns. When using the electronic map to drive on the road, it is still necessary to perceive the real-time road condition information in the current scene manually or through the sensors installed on the vehicle, and the cost is relatively high. And because there may be blind spots in the artificial observation area or the detection area of ​​the sensor, even if the electronic map is used in the driving process of the vehicle, th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F16/29G06T7/246G06T7/223
CPCG06F16/29G06T7/246G06T7/223G06T2207/10028G06T2207/10044
Inventor 胡小波严征
Owner LEISHEN INTELLIGENT SYST CO LTD
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