A method and device for judging the integrity of environmental composition based on lidar

A technology of laser radar and discrimination method, which is applied in the field of surveying and mapping, can solve the problems of huge cost and time, and achieve the effect of reducing the possibility

Active Publication Date: 2022-07-08
JIANGSU FRONTIER ELECTRIC TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The timely acquisition of the environmental map is one of the keys to the robot's autonomy and intelligence. The rapid progress of its tasks requires environmental information as a reference, and artificial map construction will consume huge costs and time.

Method used

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  • A method and device for judging the integrity of environmental composition based on lidar
  • A method and device for judging the integrity of environmental composition based on lidar
  • A method and device for judging the integrity of environmental composition based on lidar

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Embodiment Construction

[0047] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0049] like figure 1 As shown, the present invention provides a method for judging the integrity of an environment composition based on a lidar, comprising:

[0050] Step 1. Convert th...

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Abstract

The invention discloses a method and device for judging the integrity of environmental composition based on laser radar, comprising: converting a global grid map constructed by laser radar into a grayscale image; detecting edges in the grayscale image; , extract the target boundary in the map; judge the integrity of the map according to the target boundary and the integrity evaluation model. By adopting the technical solution of the present invention, the completeness of the map construction can be judged when the map is constructed, and the possibility of early termination of exploration due to incomplete map construction is reduced.

Description

technical field [0001] The invention belongs to the field of surveying and mapping, and in particular relates to a method and device for judging the integrity of environmental composition based on laser radar. Background technique [0002] The timely acquisition of environmental maps is one of the keys for robots to achieve autonomy and intelligence. The rapid execution of tasks requires environmental information as a reference, and manual map construction will consume huge costs and time. Unmanned vehicles such as drones and unmanned vehicles are small in size, strong in mobility, and high in autonomy. Therefore, the use of unmanned vehicles to realize autonomous exploration of the environment and map construction is one of the important directions of its technological development. When constructing a map, it is also necessary to judge the integrity of the map construction to reduce the possibility of early termination of exploration due to incomplete map construction. SU...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06T7/13G06T7/181G06T7/66G06T7/90G06T3/40
CPCG06T7/0002G06T7/13G06T7/181G06T7/66G06T7/90G06T3/4023G06T2207/10044
Inventor 王红星卞尹蕾黄郑刘斌赖际舟朱洁邹冰倩张欣吕品
Owner JIANGSU FRONTIER ELECTRIC TECH
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