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Echo detection and correction method and device for laser radar, and environment sensing system

An echo detection and lidar technology, used in radio wave measurement systems, measurement devices, and re-radiation, etc., can solve problems such as point data errors, weak echo signals, missing point data, etc., to ensure quality and improve return. Wave detection accuracy, the effect of improving the ability

Active Publication Date: 2020-11-20
HESAI TECH CO LTD
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Problems solved by technology

However, if the threshold is set too high, echo signals with weak signal strength may be missed, resulting in missing corresponding point data; if the threshold is set too low, interference noise signals may be regarded as echo signals, resulting in point data errors

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  • Echo detection and correction method and device for laser radar, and environment sensing system
  • Echo detection and correction method and device for laser radar, and environment sensing system
  • Echo detection and correction method and device for laser radar, and environment sensing system

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Embodiment Construction

[0063] The invention provides an echo detection and correction method, which is applied to laser radar. After determining the image area in the collected image that meets the preset conditions, a point data set matching the image area can be obtained, and based on the The pixel data of the image area adjusts the echo detection threshold of the receiving channel corresponding to the point data set, so the quality of the point cloud data generated by the lidar can be effectively guaranteed.

[0064] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation and advantages of the present invention, the following describes in detail through specific application scenarios with reference to the accompanying drawings.

[0065] In an application scenario, LiDAR can be used as a sensor in the environment perception system. LiDAR can calculate the physical information of the object, such as distance information, Orientation informati...

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Abstract

The invention discloses an echo detection and correction method and device for a laser radar, and an environment sensing system. The echo detection and correction method comprises the steps: obtainingpoint cloud data generated by the laser radar; acquiring an image corresponding to the point cloud data; determining an image area meeting a preset condition in the image based on the pixel data of each pixel in the image; obtaining a point data set corresponding to the image area; and based on the pixel data of the image area, adjusting an echo detection threshold of a receiving channel corresponding to the point data set in the laser radar. By adopting the scheme, the echo detection accuracy of the laser radar can be improved, and the quality of the point cloud data generated by the laser radar is effectively guaranteed.

Description

technical field [0001] The invention relates to the field of laser radar, in particular to an echo detection and correction method for laser radar, a device thereof, and an environment perception system. Background technique [0002] At present, the laser radar can calculate the physical information of the object, such as distance information, orientation information, height information, speed information, attitude information, etc., through the detection signal sent to the external object and the echo signal reflected by the object. These physical information form a three-dimensional Spatial point data, a large amount of point data can be processed to obtain point cloud data, which can be used in application fields such as parameter measurement and motion tracking. [0003] However, in practical applications, in addition to the echo signal reflected by the object, the signal received by the lidar may also include various interference noise signals, such as interference nois...

Claims

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Application Information

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IPC IPC(8): G01S7/497G01S7/48G01S17/89
CPCG01S7/497G01S7/4802G01S17/89Y02A90/10
Inventor 张程向少卿
Owner HESAI TECH CO LTD
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