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Shipborne laser radar obstacle detection method based on variable-size grid map

An obstacle detection and grid map technology, applied in the field of lidar obstacle detection, can solve problems such as low obstacle detection accuracy, and achieve the effect of solving the problem of reducing detection accuracy, solving missed detection and target splitting, and accurately detecting

Active Publication Date: 2021-06-01
CHINA UNIV OF PETROLEUM (EAST CHINA)
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Problems solved by technology

[0004] In order to solve the problems existing in the prior art, the present invention proposes a lidar obstacle detection method based on variable-size grid maps. The eight-neighborhood Unicom component marking method is used for grid division and clustering, and the obstacle information is extracted through the box model, which better solves the problem that the fixed-size grid map cannot effectively combine the characteristics of point cloud closeness and distance. Dealing with the problem of low obstacle detection accuracy

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  • Shipborne laser radar obstacle detection method based on variable-size grid map
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  • Shipborne laser radar obstacle detection method based on variable-size grid map

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[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0040] Step 1, in the embodiment of the present invention, the model of the selected lidar is RS-16, its horizontal field of view is 360°, the vertical field of view is ±15°, the horizontal angle resolution is 0.2°, the vertical angle The resolution is 2°, the ranging capability is 150m, the detection accuracy is ±2cm, and the installation height is 1.3m. Combined with the detection performance of the lidar itself and the installation height, set the grid map size, grid size growth range, height difference threshold, quantity threshold, and height threshold involved in the above steps as follows: R = 300 (m), a 1 = 1(m), a n =5(m), η=0.15(m), α=3, H t = 3(m).

[0041] Step 2, after the size of the grid map and the growth range of the grid...

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Abstract

The invention relates to the field of laser radar obstacle detection, in particular to an unmanned ship-borne laser radar obstacle detection method based on a variable-size grid map. According to the method, after a variable-size grid map with linearly increased grid size is established, grid division and clustering are performed in combination with a height difference discrimination method and an eight-neighborhood connected component marking method, and obstacle information extraction is performed through a box model; the problem of low obstacle detection precision caused by the fact that a grid map with a fixed size cannot effectively combine with the characteristics of dense near and sparse far of the point cloud to process the point cloud data is well solved, a more accurate obstacle detection result is obtained, and data support is provided for unmanned ship obstacle avoidance.

Description

technical field [0001] The invention relates to the field of laser radar obstacle detection, in particular to an unmanned shipborne laser radar obstacle detection method based on variable-size grid maps. Background technique [0002] Lidar has the characteristics of high ranging accuracy, little influence from environmental factors, and all-weather work, which is very suitable for obstacle detection on unmanned ships. Because the lidar point cloud is close and distant, the accuracy of grid map-based maritime obstacle detection will be directly affected by the reasonable selection of grid size. The traditional technology is to process the point cloud data through a fixed-size grid map and obtain the obstacle detection result. This method fails to effectively process the point cloud data due to the characteristics of the point cloud being close to dense and far away, resulting in The effect of grid division and clustering is poor, and the result of obstacle detection is not a...

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Application Information

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IPC IPC(8): G01S17/93G06T17/05G06K9/62
CPCG01S17/93G06T17/05G06F18/23
Inventor 李立刚郭玉杰戴永寿李瑞伟徐彬王宁
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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