Three-dimensional reconstruction method for vehicle based on multi-sensor fusion

Abstract

The invention relates to the technical field of automatic driving vehicles, in particular to a three-dimensional reconstruction method for an intelligent vehicle based on multi-sensor fusion. The method comprises the following steps that camera image data and laser point cloud data are obtained through a camera and radar laser which are installed on a vehicle, then calibration of the camera, calibration of a radar and joint calibration of the camera and the radar are carried out, three-dimensional reconstruction is achieved according to the laser point cloud and the image data, data fusion of the radar laser and the camera is carried out, and finally, noise reduction and redundant information filtering after data fusion are carried out to obtain final three-dimensional reconstruction. Compared with traditional three-dimensional reconstruction, better three-dimensional reconstruction of the surrounding environment of the vehicle can be realized in a special environment, and a three-dimensional reconstruction effect with relatively high applicability and reasonability is realized, so that the landing process of the automatic driving vehicle is promoted, and the safety and reliability of the automatic driving vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of self-driving vehicles, in particular to a three-dimensional reconstruction method for intelligent vehicles based on multi-sensor fusion. Background technique [0002] The 3D reconstruction of intelligent vehicles is to obtain the 3D information of the surrounding environment of the vehicle through sensor technology to achieve reconstruction, which occupies a very important position in the fields of intelligent driving and intelligent transportation. The three-dimensional information measurement method is unstable and inaccurate in special environments (such as: tunnels, mountainous areas, mines and other harsh environments). 3D reconstruction is more practical and reliable. In these environments, more effective and accurate 3D spatial information can be obtained. [0003] Traditional 3D reconstruction is based on camera sensors, and 3D reconstruction is realized through steps such as calibration, feature...

AI Technical Summary

Problems solved by technology

At present, most 3D reconstruction methods based on multi-sensor fusion include a lot of redundant data information, which makes the effect of 3D reconstruction not efficient and reasonable.

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