Map generation method based on multi-agent laser radar and visual information fusion

A lidar, multi-agent technology, applied in the re-radiation of electromagnetic waves, satellite radio beacon positioning systems, instruments, etc., can solve problems such as blind spots, potential safety hazards, and inability to meet, and achieve the effect of reducing the scope

Active Publication Date: 2020-11-03
PEKING UNIV
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Problems solved by technology

Although this method combines multi-sensor data, there is still the possibility of blind spots as the vehicle's driving state changes, and there are certain potential safety hazards.
[0008]In summary, it is dif...

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  • Map generation method based on multi-agent laser radar and visual information fusion
  • Map generation method based on multi-agent laser radar and visual information fusion
  • Map generation method based on multi-agent laser radar and visual information fusion

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[0040] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] see attached figure 1 , 2 , this embodiment provides a method for building a grid map by fusion of multi-agent laser radar and visual information. Under the condition of ensuring the time synchronization of sensor information, the laser radar and visual sensor of the agent are jointly calibrated, and the point cloud data and image The data is processed, and the processed information is fused to obtain the static target and the dynamic target of the single agent. During the moving process of the agent, each visual sensor collects the image cycle, and performs the following steps to construct a local grid map. At the same time, the other agent The agent is processed in the same way, and then according to the loca...

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Abstract

The invention discloses a map generation method based on multi-agent laser radar and visual information fusion, and the method comprises the steps: recognizing a static target and a dynamic target through classification, calibrating a laser radar and a visual sensor of a single agent in a combined manner for each single agent, and recognizing the static and dynamic targets under the condition thatthe visual sensors of the single agents are consistent in time; generating a grid map, and fusing the detection results of the multiple agents according to the GPS information of the single agent. Byadopting the technical scheme provided by the invention, safe, reliable and predictable local road area information can be provided for multiple intelligent agents.

Description

technical field [0001] The invention belongs to the technical field of multi-agent sensors, and relates to an intelligent body laser radar and a visual information fusion method, in particular to a method for constructing a grid map based on multi-agent laser radar and visual information fusion. Background technique [0002] In recent years, due to the interdisciplinary and infiltrating development of biology, computer science, artificial intelligence, control science, sociology and other disciplines, multi-agent systems have attracted more and more attention from many scholars, and have become the current control discipline and artificial intelligence. research hotspots in the field. The goal of a multi-agent system is to enable several systems with simple intelligence but easy to manage and control to achieve complex intelligence through mutual cooperation, so that while reducing the complexity of system modeling, it can improve the robustness of the system. Reliability, ...

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Application Information

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IPC IPC(8): G01S17/89G01S17/86G01S17/931G01S19/14
CPCG01S17/89G01S17/86G01S17/931G01S19/14
Inventor 孙嘉航李瑜茹陈晨程翔
Owner PEKING UNIV
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