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Target positioning method fusing laser radar and camera and related device

A laser radar and target positioning technology, which is applied in the direction of measuring devices, computer components, electromagnetic wave re-radiation, etc., can solve the problem of low accuracy of positioning results, achieve the effect of reliable optimal transformation matrix and improve accuracy

Pending Publication Date: 2022-02-08
GUANGDONG POWER GRID CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] This application provides a target positioning method and related devices that integrate laser radar and camera, which are used to solve the technical problems of low accuracy of positioning results due to the limitations of existing technologies to varying degrees

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  • Target positioning method fusing laser radar and camera and related device
  • Target positioning method fusing laser radar and camera and related device
  • Target positioning method fusing laser radar and camera and related device

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Embodiment Construction

[0039] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0040] For ease of understanding, see figure 1 , an embodiment of a target location method that integrates lidar and camera provided by the present application, including:

[0041] Step 101, perform a rough calibration operation on the selected lidar and camera to obtain an initial transformation matrix composed of an initial rotation vector and an initial transla...

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Abstract

The invention discloses a target positioning method fusing a laser radar and a camera and a related device, and the method comprises the steps: carrying out the rough calibration operation of the selected laser radar and camera, and obtaining an initial transformation matrix composed of an initial rotation vector and an initial translation vector; carrying out the ICP matching analysis according to the point cloud data between two adjacent frames and the global source point cloud data, and obtaining a radar rotation vector and a radar translation vector when the matching error is minimum; performing triangularization processing on the camera image through the radar rotation vector and the radar translation vector to obtain camera image depth information; performing relative calculation on the camera image depth information and the preset radar image depth information based on a least square method to obtain an optimal transformation matrix; and carrying out positioning calculation on the target object by adopting the optimal transformation matrix to obtain a positioning result. The technical problem that the accuracy of a positioning result is low due to limitation of different degrees in the prior art is solved.

Description

technical field [0001] The present application relates to the technical field of object positioning, and in particular to a target positioning method and related devices that integrate laser radar and camera. Background technique [0002] Whether it is the current mobile robot or the unmanned vehicle, real-time positioning and mapping are an indispensable key part, and accurate positioning is the first link in other follow-up planning. There are many existing positioning technologies, such as single-point GPS positioning, differential GPS positioning, laser radar positioning, and positioning through camera vision. [0003] However, single-point GPS depends on the number of satellites to measure the quality of positioning; differential GPS requires two stations to maintain decimeter or even centimeter-level positioning; camera vision positioning is very dependent on the quality of the camera and the limitations of the surrounding environment; lidar Positioning involves a lot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80G06T7/55G06V10/80G01S17/06G01S17/86G01S17/89
CPCG06T7/73G06T7/80G06T7/55G01S17/06G01S17/86G01S17/89G06T2207/10028G06T2207/10044G06F18/25
Inventor 吴晖王杨施泽宇张晓晔谢志文
Owner GUANGDONG POWER GRID CO LTD
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