A Lidar Multipath Compensation Method
A compensation method, laser radar technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of large site restrictions, large amount of multipath compensation calculations, etc.
Active Publication Date: 2021-12-24
HANGZHOU GUANGPO INTELLIGENT TECH CO LTD
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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
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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] Such as 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 ...
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The invention discloses a laser radar multipath compensation method. In order to overcome the problem of large amount of calculation and limited by the site in the prior art, the multipath compensation includes the following steps: S1: perform exposure according to preset parameters and obtain image frames; S2: preprocess the image frames; S3: separate different Angle image plane, calculate the angle of each plane according to the reference value, extract the distance information and grayscale information; S4: Calculate the reflectivity according to the distance information and grayscale information, calculate the coherence angle between the planes according to the angle of each plane, and the geometric center of different planes Determine and calculate the gray value of the surface; S5: calculate the ranging deviation caused by the influence of multipath on the plane or single point; compensate the correction value, and output the image frame after multipath correction. Ideal multipath compensation information can be obtained without huge data learning and calculation, and without limiting the scene.
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...
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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