Laser radar multipath compensation method
A compensation method, lidar technology, applied in image data processing, instrumentation, calculation, etc., can solve the problems of large amount of multipath compensation calculation and large site limitation, etc.
Active Publication Date: 2021-09-14
HANGZHOU GUANGPO INTELLIGENT TECH CO LTD
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0006] The present invention mainly solves the problems of large amount of multipath compensation calculations in the prior art and is greatly limited by the site; it provides a laser radar multipath compensation method, which calculates the multipath according to the grayscale image, distance information and the relative angle of the target object in the depth image The deviation scheme can obtain ideal multipath compensation information without huge data learning and calculation
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment
[0072] A laser radar multipath compensation method in this embodiment, such as figure 1 shown, including the following steps:
[0073] S1: Exposing according to preset parameters and acquiring image frames.
[0074] Obtain the depth map and grayscale image through the camera. The camera measures the distance by solving the phase difference of the gray-scale signals of two adjacent groups of shutters.
[0075] like figure 2 As shown, S0 Shutter is the first shutter signal of the depth camera, S1 Shutter is the second shutter signal of the depth camera, LD pulse represents the laser signal sent by the depth camera, and LD Pulse Return is the return laser signal of the depth camera. Captured Return LD is the laser signal returned at different object distances captured by the first shutter and the second shutter in the time domain, that is, the integral of the shutter signal and the laser signal in the time domain.
[0076] is the pulse width of the shutter signal, is the...
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
Login to View More Abstract
The invention discloses a laser radar multipath compensation method. The problems that in the prior art, multi-path compensation is large in calculation amount and large in site limitation are solved. The method comprises the following steps: S1, performing exposure according to preset parameters and acquiring an image frame; S2, preprocessing the image frame; S3, separating image planes at different angles, calculating the angle of each plane according to a reference value, and extracting distance information and gray scale information; S4, calculating the reflectivity according to the distance information and the gray information, calculating the coherence angle between the planes according to the angles of the planes, and determining the geometric centers of the different planes and calculating the gray value of the sum surface; S5, calculating the distance measurement deviation of a plane or a single point caused by multipath influence; and compensating the correction value, and outputting the image frame after multipath correction. Relatively ideal multipath compensation information can be obtained without huge data learning and calculation and without limitation of scenes.
Description
technical field [0001] The invention relates to the field of radar path compensation, in particular to a laser radar multipath compensation method. Background technique [0002] 3D vision technology has been applied to all aspects of life, such as face recognition, 3D modeling, distance measurement, etc. With the deepening of applications, the accuracy requirements for 3D depth information are getting higher and higher. In the distance measurement using TOF phase gating technology, due to the reflection of light between the measured objects, the arrival of the light echo signal is delayed, resulting in a large distance measurement. The multipath deviation caused by the reflection of light on different paths is an inherent attribute of TOF phase gating ranging, which cannot be solved by the ranging principle itself. [0003] In order to correct the ranging deviation caused by the light reflected between the measured objects, the method adopted is called multipath compensati...
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
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/521G06T5/00G06T7/80
CPCG06T7/521G06T7/80G06T2207/10044G06T2207/20068G06T5/80
Inventor 王坤强应忠建杨金峰张合勇
Owner HANGZHOU GUANGPO INTELLIGENT TECH CO LTD