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Map generation method based on IMU and laser radar
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A technology for lidar and map generation, which is applied to measurement devices, radio wave measurement systems, satellite radio beacon positioning systems, etc. Accurate map construction requirements, faster calculation speed, and small memory footprint
Active Publication Date: 2020-12-15
武汉威图传视科技有限公司
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[0003] The purpose of the present invention is to overcome the above technical deficiencies, provide a map generation method, device, system and computer storage medium based on IMU and laser radar, and solve the problem of complex point cloud map drawing process and slow frame matching algorithm in the prior art technical problem
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Embodiment 1
[0027] Such as figure 1 As shown, Embodiment 1 of the present invention provides a map generation method based on IMU and lidar, comprising the following steps:
[0028] S1. Obtain the 3D point cloud data collected by the lidar, and obtain the inertial data collected by the IMU;
[0029] S2. Generate a projection map on the ground according to the three-dimensional point cloud data, and calculate the translation amount of the vehicle according to the projection map of the adjacent frame three-dimensional point cloud data;
[0030] S3. Calculate the amount of rotation of the vehicle between adjacent frames of three-dimensional point cloud data according to the inertial data;
[0031] S4. Combining the translation amount and the rotation amount to draw a trajectory node to obtain an odometer trajectory;
[0032] S5. Obtain a GPS track, and use the GPS track to correct the odometer track;
[0033] S6. Extracting feature information of the three-dimensional point cloud data in ...
Embodiment 2
[0146] Embodiment 2 of the present invention provides a map generation device based on IMU and lidar, including a processor and a memory, and a computer program is stored on the memory, and when the computer program is executed by the processor, the embodiment 1 provides An IMU- and LiDAR-based map generation method.
[0147] The map generation device based on IMU and laser radar provided by the embodiment of the present invention is used to realize the map generation method based on IMU and laser radar. Therefore, the technical effect of the map generation method based on IMU and laser radar is based on IMU and laser The map generation device of the radar is also provided, so it will not be repeated here.
Embodiment 3
[0149] Such as Figure 4 As shown, embodiment 3 of the present invention provides a map generation system based on IMU and laser radar, including the map generation device based on IMU3 and laser radar provided in embodiment 2, and also includes vehicle body 1, laser radar 2, IMU3 and GPS receiver 4;
[0150] The map generating device based on IMU and lidar, lidar 2, IMU3 and GPS receiver 4 are all installed on the vehicle body 1, and the lidar 2, IMU3 and GPS receiver 4 are respectively connected with the IMU-based Electrically connected with the map generating device of the lidar;
[0151] The laser radar 2 is used to collect three-dimensional point cloud data, and the three-dimensional point cloud data is sent to the map generation device based on IMU and laser radar;
[0152] The IMU3 is used to collect the inertial data of the vehicle, and send the inertial data to the map generation device based on the IMU and lidar;
[0153] The GPS receiver 4 is connected with a rem...
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Abstract
The invention relates to the technical field of map construction based on computer vision, and discloses a map generation method based on an IMU and a laserradar. The method comprises the following steps: acquiring three-dimensional point cloud data acquired by the laserradar, and acquiring inertial data acquired by the IMU; generating a projection drawing on the ground according to the three-dimensional point cloud data, and calculating the translation amount of the vehicle according to the projection drawing of the adjacent frames of three-dimensional point cloud data; calculating the rotation amount of the vehicle between the adjacent frames of three-dimensional point cloud data according to the inertia data; drawing trajectory nodes in combination with the translation amount and therotation amount to obtain odometer trajectories; obtaining a GPS track, and correcting the odometer track by using the GPS track; and extracting feature information of each frame of the three-dimensional point cloud data, and associating each piece of feature information with GPS coordinates in the GPS track according to the corrected odometer track to obtain a three-dimensional map. The method has the technical effects of high map precision, high mapping speed and small memory occupation.
Description
technical field [0001] The present invention relates to the technical field of map construction based on computer vision, in particular to a map generation method, device, system and computer storage medium based on IMU and laserradar. Background technique [0002] High-precision maps are the basis for automatic driving positioning. Traditional maps combined with GPS positioning are easy to operate, but the positioning accuracy can only reach about 10m. In addition, point cloud maps built based on laser point cloud matching are more commonly used, but due to The speed is slow, and it takes up a lot of memory, which makes the drawing process complicated. Contents of the invention [0003] The purpose of the present invention is to overcome the above technical deficiencies, provide a map generation method, device, system and computer storage medium based on IMU and laser radar, and solve the problem of complex point cloud map drawing process and slow frame matching algorith...
Claims
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Application Information
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