Unmanned ship inland river obstacle sensing method based on laser radar

Abstract

The invention relates to an unmanned ship inland river obstacle sensing method based on a laser radar. The method comprises the steps that 1, constructing a polygonal geographic electronic fence area of a task water area online in real time by taking the position of a ship as a reference point; 2, carrying out distortion correction on the 360-degree point cloud generated by the laser radar, and combining the processed point cloud information with the position of the ship to carry out filtering according to the geo-fencing area in the step 1; 3, carrying out horizontal plane grid projection dimension reduction processing on the corrected point cloud, carrying out statistics on multi-dimensional feature information of the point cloud belonging to each grid, and calculating a target confidence coefficient of each grid according to a feature value; 4, performing noise removal, target grid segmentation and clustering processing on the grid map, extracting position and scale information of each target, and obtaining a target two-dimensional rectangular bounding box; and 5, extracting position coordinates of an obstacle target bounding box and bounding box length-width ratio information according to the front and rear frame grid maps of the laser radar, performing front and rear frame clustering target association matching, and extracting target position speed information. According to the invention, accurate acquisition of the position and size of the target is realized.

Description

technical field [0001] The invention belongs to the field of target perception and detection of unmanned intelligent ships, and in particular relates to a method for sensing obstacles in inland rivers of unmanned ships based on laser radar. Background technique [0002] Compared with the open sea, inland waterways have narrow and tortuous routes. Typical targets, such as piers, swimmers, fishing nets, floating balls, aquatic plants, etc., are characterized by smaller scales and many types. The main sensor navigation radar that the unmanned ship perception relies on is affected by the embankment and land reflection clutter on both sides in the relatively narrow inland river, and the obstacle detection and tracking performance is significantly reduced, which cannot meet the obstacle avoidance needs of the unmanned inland river navigation. [0003] Utilizing the characteristics of high resolution, accurate distance and scale information, and short detection cycle of lidar, it c...

AI Technical Summary

Problems solved by technology

However, due to the disorder, high sparsity, and large amount of data in the lidar point cloud data, there are relatively few researches on the obstacle perception of inland river unmanned boats based on lidar.

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