Unlock instant, AI-driven research and patent intelligence for your innovation.

Method and device for determining target reflection point, electronic equipment and storage medium

A reflection point, target technology, applied in the computer field, can solve the problems of high price, high cost and poor effect of inertial measurement units, and achieve the effect of improving accuracy and convenience

Pending Publication Date: 2021-10-22
JINGDONG KUNPENG (JIANGSU) TECH CO LTD
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] However, high-precision inertial measurement units are expensive, and there is a problem of high cost when using them as motion compensation. Although motion compensation with ordinary precision inertial measurement units can alleviate the impact of bumps, the effect is not good, which leads to certain There is an inaccurate problem with the ground point and non-ground point

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method and device for determining target reflection point, electronic equipment and storage medium
  • Method and device for determining target reflection point, electronic equipment and storage medium
  • Method and device for determining target reflection point, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] figure 1 It is a schematic flow chart of a method for determining target reflection points provided by Embodiment 1 of the present invention. This embodiment is applicable to verifying the pending mark information of each reflection point in the point cloud line, and correcting the reflection according to the verification results. The situation of the marking information of the point to be processed, such as, according to the verification result, the situation of modifying the marking information of the non-ground point to the marking information of the ground point, the method can be performed by the device for determining the target reflection point, and the device can be implemented by software and / or implemented in the form of hardware, where the hardware may be an electronic device, such as a mobile terminal or a PC.

[0035] Before introducing the technical solution, an example description may be given to the application scenario. During the driving process of u...

Embodiment 2

[0082] As an optional embodiment of the above embodiment, Figure 4 It is a schematic flowchart of a method for determining a target reflection point provided in Embodiment 2 of the present invention.

[0083] Such as Figure 4 As shown, the method includes:

[0084] S210. Perform motion compensation on all radar reflection points according to the measurement result of the inertial measurement unit.

[0085] Among them, the inertial measurement unit is used to estimate the attitude change of the lidar at each moment, and then perform motion compensation on the corresponding reflection points according to the estimated results, so as to compensate for the sudden change of the point cloud caused by the bumps.

[0086] It should be noted that the technical solutions of the embodiments of the present invention can be applied to the situation where a rotating-mirror laser radar is installed on an unmanned vehicle for obstacle avoidance. During the driving process of the unmanned...

Embodiment 3

[0107] Figure 5 A schematic structural diagram of an apparatus for determining a target point provided by Embodiment 5 of the present invention, the apparatus includes: a pending tag information determining module 310 , a target data value determining module 320 , a tag information updating module 330 and a target point determining module 340 .

[0108] The marking information to be processed determination module 310 is used to determine the marking information to be processed of each reflection point in the point cloud line; the target data value determination module 320 is used to determine two adjacent reflection points according to the generation time information of the reflection points When the tag information to be processed is inconsistent, process the associated data of the two reflection points to obtain the target data value; the tag information updating module 330 is configured to: if the target data value is within the preset threshold range, then Updating the to...

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

No PUM Login to View More

Abstract

The invention discloses a method and a device for determining a target reflection point, electronic equipment and a storage medium. The method comprises the following steps: determining to-be-processed mark information of each reflection point in a point cloud line; according to the generation time information of the reflection points, when it is determined that the to-be-processed mark information of the two adjacent reflection points is inconsistent, processing the associated data of the two reflection points to obtain a target data value; if the target data value is within a preset threshold range, updating to-be-processed mark information, which is not matched with preset mark information, in the two reflection points as the preset mark information; and determining a target reflection point based on the updated mark information to be processed of each reflection point. According to the technical scheme of the embodiment of the invention, under the condition of reducing the cost, the accuracy and convenience of determining the target point are improved, and then the technical effect of improving the driving safety of the unmanned vehicle is achieved.

Description

technical field [0001] Embodiments of the present invention relate to the field of computer technology, and in particular, to a method, device, electronic equipment, and storage medium for determining a target reflection point. Background technique [0002] Lidar is an active detection and perception device. It has become an indispensable sensor in autonomous driving because of its advantages of accurate three-dimensional information acquisition, high resolution, strong anti-interference ability and wide detection range. That is to say, the self-driving vehicle senses the surrounding environment and objects based on the equipped lidar, and then adopts different strategies such as advancing, waiting, and avoiding. [0003] At present, the commonly used laser radar includes rotating mirror laser radar and mechanical rotating laser radar. The horizontal field of view of mechanical rotating laser radar is 360 degrees, the detection distance is long, and the measurement results a...

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
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/931G01S7/48
CPCG01S17/931G01S7/4802
Inventor 林金表李浩
Owner JINGDONG KUNPENG (JIANGSU) TECH CO LTD