Laser radar data preprocessing method and device

Abstract

The invention provides a laser radar data preprocessing method and device, which relate to the technical field of laser radars. The method comprises the following steps that an overlapping region between two-dimensional radar images corresponding to a first radar and a second radar is obtained, wherein the first radar is a radar carried on a detection device, and the second radar is the other radar carried on the detection device; according to the overlapping region, a first common point and a second common point are determined, wherein the first common point is a contour imaging point of the first radar in the overlapping region, and the second imaging point is a contour imaging point of the second radar in the overlapping region; according to the mutual relation between the first common point and the second common point, the overlapping region is preprocessed, overlapping contour imaging points in the overlapping region are screened and removed, the requirement for internal imaging of the measured object is met, and therefore the purposes of high-precision distance measurement and high-precision imaging are achieved.

Description

technical field [0001] The invention relates to the technical field of laser radar, in particular to a laser radar data preprocessing method and device. Background technique [0002] LiDAR (LightLaser Detection and Ranging, LiDAR), short for laser detection and ranging system, is a radar that uses lasers as radiation sources. Lidar is the product of the combination of laser technology and radar technology. It is composed of transmitter, antenna, receiver, tracking frame and information processing. Transmitters are various forms of lasers, such as carbon dioxide lasers, neodymium-doped yttrium aluminum garnet lasers, semiconductor lasers, and wavelength-tunable solid-state lasers; the antenna is an optical telescope; the receiver uses various forms of photodetectors, such as photoelectric Multiplier tubes, semiconductor photodiodes, avalanche photodiodes, infrared and visible multiple detection devices, etc. LiDAR adopts two working modes of pulse or continuous wave, and t...

AI Technical Summary

Problems solved by technology

[0005] The invention provides a laser radar data preprocessing method and method, which is used to solve the defect that there is a relatively large error in each frame of effective data of a two-dimensional laser radar in the prior art, and to meet the internal imaging requirements of the measured object, thereby achieving high The purpose of precision ranging and high-precision imaging

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