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A method for obtaining 3D laser point cloud based on single-line lidar

A single-line laser radar and laser point cloud technology, applied in the re-radiation of electromagnetic waves, radio wave measurement systems, instruments, etc., can solve the problems of map distortion, single 2d laser point cloud information, etc., to increase the degree of freedom and avoid data distortion. , the effect of eliminating the cumulative error of rotation

Active Publication Date: 2022-05-24
SOUTH CHINA UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Since the robot will move in translation or rotation during the scanning process of the laser radar sensor, the obtained 2D laser point cloud information is relatively simple
Therefore, the map generated purely based on the 2D laser point cloud will have a certain degree of distortion

Method used

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  • A method for obtaining 3D laser point cloud based on single-line lidar
  • A method for obtaining 3D laser point cloud based on single-line lidar
  • A method for obtaining 3D laser point cloud based on single-line lidar

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Embodiment Construction

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] see Figure 1-3 , a method for acquiring 3D laser point cloud based on single-line lidar, including:

[0028] S1, collect data through the single-line lidar mounted on the robot; the data includes the distance and angle between the obstacle and the sensor;

[0029] S2, rotate the support platform to increase the degree of freedom of the single-line laser radar; wherein the single-line laser radar is mounted on the support platform, and the support platform is mounted on the robot; further, step S2 includes: rotating the support platform, the single-line laser radar is mounted on the sensor coordinate system. Spin the x-axis, increase the degree of freedom of the single-line lidar, and obtain the current roll angle of the single-line lidar. Further, the robot is provided with an encoder, a controller and a motor connected by electrical signals in ...

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Abstract

The invention discloses a method for acquiring 3D laser point clouds based on a single-line laser radar, comprising: S1, collecting data through a single-line laser radar mounted on a robot; the data includes distances and angles between obstacles and sensors; S2 , rotate the bracket platform to increase the degree of freedom of the single-line lidar; the single-line lidar is mounted on the bracket platform, and the bracket platform is mounted on the robot; S3, the data and the degree of freedom are fused to generate point cloud data; S4, using The point cloud matching algorithm is used for point cloud splicing experiments to generate 3D laser point clouds. The present invention adopts a single-line laser radar, which can spin the single-line laser radar around the x-axis of the sensor coordinate system while reducing the use of other sensors, increasing the degree of freedom of the single-line laser radar, obtaining 3D laser point cloud data, and performing point cloud splicing experiment.

Description

technical field [0001] The invention relates to the technical field of robot laser sensors, in particular to a method for acquiring a 3D laser point cloud based on a single-line laser radar. Background technique [0002] With the development and progress of science and technology, the cost of lidar, which is often used in the military field, has been greatly reduced, which makes it possible for commercial applications. Lidar has good monochromaticity, high brightness, strong directionality, and anti-interference. It has the advantages of strong, strong resolution, small and light equipment, especially in speed measurement and robot positioning. The construction of the point cloud map enables the robot to restore the 3D scene, so the acquisition of point cloud information has certain value. [0003] Traditional robots only use lidar sensors for localization or construction of 2D maps, such as grid maps. Due to the movement of the robot such as translation or rotation during...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/89G01S7/481
CPCG01S17/89G01S7/4817
Inventor 黄林青魏武罗永恒周方华
Owner SOUTH CHINA UNIV OF TECH
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