Point cloud motion compensation method and device and computer readable storage medium

A motion compensation and point cloud technology, applied in the field of point cloud compensation, can solve the problem of low accuracy of point cloud motion compensation

Pending Publication Date: 2021-05-18
广州小马慧行科技有限公司
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The main purpose of this application is to provide a point cloud motion compensation method, device, computer-readable storage medium, processor and electronic equipment to solve the problem of low accuracy of point cloud motion compensation in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Point cloud motion compensation method and device and computer readable storage medium
  • Point cloud motion compensation method and device and computer readable storage medium
  • Point cloud motion compensation method and device and computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0026] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0028] It should be noted that the terms "first" and "second...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a point cloud motion compensation method and device and a computer readable storage medium. The method comprises the steps: obtaining a first position and a second position, wherein the first position is the position of a laser radar at the current moment, and the second position is the position of the laser radar at the previous moment; acquiring laser point cloud data at the current moment, coordinates of any point in the laser point cloud data and a normal vector at any point; and performing motion compensation on any point in the laser point cloud data by adopting the first position, the second position, the coordinate of any point and the normal vector of any point. Accurate compensation of any point in the laser point cloud data is realized.

Description

technical field [0001] The present application relates to the field of point cloud compensation, in particular, to a point cloud motion compensation method, device, computer-readable storage medium, processor and electronic equipment. Background technique [0002] Lidar is widely used in the field of automatic driving. Through laser scanning, Lidar can quickly establish a three-dimensional model around the vehicle, and provide basic data for high-precision map production, obstacle recognition, and precise vehicle positioning, so as to carry out vehicle driving environment. perception. When the carrying platform of the lidar configuration is in motion, if the position of the lidar changes between two consecutive frames, the position where the laser hits the surface of the object will also change, even if the object has not moved. In the prior art, there is already a method for compensating point cloud displacement caused by lidar motion, but the accuracy of point cloud motio...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246
CPCG06T2207/10028G06T7/248
Inventor 熊祎
Owner 广州小马慧行科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap