A mapping method, device, medium and equipment based on multi-line laser radar

Abstract

The invention discloses a mapping method, device, medium and equipment based on a multi-line laser radar. The mapping method includes the steps of: projecting the three-dimensional point cloud data collected by the multi-line laser radar to the horizontal plane where the laser radar is located to generate a two-dimensional Lidar point cloud data; perform inter-frame matching on the generated two-dimensional lidar point cloud data to realize data association; calculate the multi-line lidar pose according to the position of the matched point cloud on the map, and use graph optimization Manage the coordinate sequence of multi-line lidar to obtain the motion trajectory pose graph of the robot; generate the occupancy grid according to the counting weights corresponding to the multi-line lidar pose, two-dimensional lidar point cloud data, and the distance between obstacles and lidar map. The invention solves the problem that low-height obstacles are relatively close to the mapping path and the measurement blind area cannot be modeled as obstacles, and can handle the modeling of low-height obstacles in the map well, improving the accuracy and reliability of mapping .

Description

technical field [0001] The present invention relates to the field of unmanned driving, in particular, to a mapping method, device, medium and equipment based on multi-line lidar. Background technique [0002] The environment map is the premise of positioning, navigation and path planning for robots. Simultaneous localization and mapping (SLAM) technology is an important means for mobile robots to obtain positioning and establish environmental maps. 2D laser SLAM is widely used by indoor robots because of its high precision and the ability to directly generate grid maps for navigation. However, 2D laser SLAM only has data on the plane where the single-line laser radar is located, and cannot handle other height obstacles. tall mobile robot. Although 3D lasers can generate 3D point cloud maps or other 3D maps of the scene, when such maps are used for navigation and motion planning of planar mobile robots, it is necessary to perform collision detection between the robot model a...

AI Technical Summary

Problems solved by technology

[0003] On the one hand, the present invention provides a mapping method based on multi-line laser radar to solve the technical problem that the low-height obstacles in the measurement blind area are too close to the mapping path and cannot be modeled as obstacles during the mapping process.

Images