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

Obstacle detection method and device based on laser radar

A technology of obstacle detection and laser radar, which is applied in the field of obstacle detection based on laser radar, can solve the problem of low efficiency of obstacle detection, achieve the effect of improving clustering efficiency, facilitating double clustering, and improving accuracy

Pending Publication Date: 2022-02-11
际络科技(上海)有限公司
View PDF0 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a laser radar-based obstacle detection method and device, which is used to solve the defect of low obstacle detection efficiency due to relatively dense point clouds in the prior art, and to realize

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
  • Obstacle detection method and device based on laser radar
  • Obstacle detection method and device based on laser radar
  • Obstacle detection method and device based on laser radar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0022] figure 1 A schematic flow chart of a lidar-based obstacle detection method of the present invention is shown, the method includes:

[0023] S01, using airspace hashing to perform columnar voxelization on the obtained point cloud data to obtain multiple voxel grids;

[0024] S02. Obtain target features corresponding to each voxel grid according to the plurality of voxel grids;

[002...

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 provides an obstacle detection method and device based on a laser radar. The method comprises steps of carrying out columnar voxelization of obtained point cloud data through employing spatial domain Hash, and obtaining a plurality of voxel grids; obtaining target features corresponding to the voxel grids according to a plurality of voxel grids; and performing double clustering on the target features to obtain an obstacle detection result. According to the method, double clustering is carried out through the cylindrical voxels to obtain obstacle detection, so clustering efficiency is improved, and obstacle detection precision is improved; columnar voxelization is carried out on the obtained point cloud data through airspace hash to quickly obtain voxel grids and ensure that the sizes of the voxel grids are the same, so subsequent double clustering is facilitated, in addition, the space of the point cloud data can be reduced, and the point cloud data can be quickly searched.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a laser radar-based obstacle detection method and device. Background technique [0002] Self-driving vehicles (Autonomous vehicles; Self-piloting automobile), also known as unmanned vehicles, is a technology that uses computer equipment to control vehicles to drive automatically on the road. The realization of automatic driving relies on artificial intelligence, visual computing, radar and Collaboration of positioning components. Since the actual road conditions are complex and there are a large number of obstacles such as pedestrians and vehicles, how to realize obstacle recognition and then plan a driving route to avoid obstacles has become the key to automatic driving. [0003] At present, most of the general obstacle detection algorithms based on lidar realize the identification of obstacles. The general obstacle detection algorithm mainly firstly fits the ground e...

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
IPC IPC(8): G01S17/931
CPCG01S17/931
Inventor 韩泽熙乔峰程新景杨睿刚
Owner 际络科技(上海)有限公司