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Millimeter-wave radar environment map construction method and device based on clustering algorithm

A millimeter-wave radar and clustering algorithm technology, applied in the field of environment-aware radar point cloud processing, can solve the problem of low accuracy

Active Publication Date: 2021-03-19
BEIJING GENERAL MUNICIPAL ENG DESIGN & RES INST +1
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Problems solved by technology

[0005] However, there is a problem of low accuracy in the construction of millimeter-wave radar environment maps using clustering algorithms in the prior art. Therefore, a method for constructing millimeter-wave radar environment maps based on clustering algorithms that can overcome the above problems is urgently needed

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  • Millimeter-wave radar environment map construction method and device based on clustering algorithm

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Embodiment Construction

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.

[0027] In order to construct a millimeter-wave radar environment map and improve the accuracy of the millimeter-wave radar environment map, an embodiment of the present invention provides a method for constructing a millimeter-wave radar environment map based on a clustering algorithm, such as figure 1 As shown, the method may include:

[0028] Step 101. Obtain multi-frame mobile acquisition data and corresponding pose information of the millimeter-wave radar. The mobile acquisition data includes: coordinate information and velocity information of the target relative ...

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Abstract

The invention discloses a millimeter-wave radar environment map construction method and device based on a clustering algorithm. The method comprises the steps that: multi-frame mobile acquisition dataand corresponding pose information of a millimeter-wave radar are acquired; according to the pose information, the coordinate information of the target of the multi-frame mobile acquisition data relative to the radar in a Cartesian coordinate system is processed to obtain combined point cloud data, and the combined point cloud data comprises a plurality of sample vectors; a DBSCAN clustering algorithm is used for carrying out miscellaneous point screening processing on the combined point cloud data, and input parameters of the DBSCAN clustering algorithm are determined according to dimensioninformation of the combined point cloud data and Mahalanobis distance data between sample vectors in the combined point cloud data; a millimeter-wave radar measurement precision model is established by utilizing the combined point cloud data subjected to miscellaneous point screening processing; and a millimeter-wave radar environment map is constructed according to the millimeter-wave radar measurement precision model. The method can effectively improve the accuracy of the millimeter-wave radar environment map.

Description

technical field [0001] The invention relates to the technical field of environment-aware radar point cloud processing, in particular to a method and device for constructing a millimeter-wave radar environment map based on a clustering algorithm. Background technique [0002] Environmental map construction plays an important role in the fields of mobile robots and environmental monitoring. Environmental map construction is not only a necessary prerequisite for the robot's next action planning, but also an important step in monitoring unknown or known spaces. Occupancy grid map algorithms are commonly used in the construction of environmental maps. After obtaining the position and orientation information of the radar according to GPS and other methods, the environment grid map is formed by combining the point cloud data of each frame. [0003] Millimeter wave radar is a radar that emits electromagnetic waves in the millimeter wave band for detection, and it can output data i...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/89G06K9/62
CPCG01S13/89G06F18/2321
Inventor 李洋刘宇通王彦平强百祥邱叶林申文杰林赟
Owner BEIJING GENERAL MUNICIPAL ENG DESIGN & RES INST
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