Three-dimensional point cloud reconstruction method and system based on high-precision vector map

A technology of three-dimensional point cloud and vector map, which is applied in the direction of radio wave measurement system, measurement device, electromagnetic wave reradiation, etc., to achieve the effect of low cost

Pending Publication Date: 2022-03-01
WUHAN ZHONGHAITING DATA TECH CO LTD
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Problems solved by technology

[0004] Aiming at the technical problems existing in the prior art, the present invention provides a 3D point cloud reconstruction method and system based on high-precision vector maps, which can efficiently and stably reconstruct 3D point clouds from high-precision vector maps, and solves the problem of vector maps in point clouds. Scenario usability issues

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  • Three-dimensional point cloud reconstruction method and system based on high-precision vector map

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Embodiment 1

[0045] Embodiment 1 provided by the present invention is an embodiment of a 3D point cloud reconstruction method based on a high-precision vector map provided by the present invention, figure 1 , the left rectangular box is each process, the right cylindrical box is the input and output data of the corresponding process, the dark cylindrical box is the input data, and the light colored cylindrical box is the output data. figure 1 As can be seen, embodiments of the three-dimensional point cloud reconstruction method include:

[0046] Convert the road surface and ground objects in the high-precision vector map data into 3D scene models respectively.

[0047] In a possible embodiment, converting the road surface in the high-precision vector map data into a 3D scene model includes: selecting the two outermost lane edges on both sides of the road, and connecting the shape points on the two lane edges in sequence The generated road surface polygon is a 3D scene model of the road ...

Embodiment 2

[0067] Embodiment 2 provided by the present invention is an embodiment of a 3D point cloud reconstruction system based on a high-precision vector map provided by the present invention, Figure 6 A structural diagram of a 3D point cloud reconstruction system based on a high-precision vector map provided in an embodiment of the present invention, combined with Figure 6 It can be seen that the embodiment of the 3D point cloud reconstruction system includes: a vector map data conversion module, a radar pose simulation module and a point cloud reconstruction module.

[0068] The vector map data conversion module is used to convert the road surface and ground objects in the high-precision vector map data into 3D scene models respectively.

[0069] The radar pose simulation module is used to simulate the lidar pose according to the vector road in the high-precision vector map data. The vehicle lidar pose includes: position and heading direction.

[0070] The point cloud reconstruct...

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Abstract

The invention relates to a three-dimensional point cloud reconstruction method and system based on a high-precision vector map. The three-dimensional point cloud reconstruction method comprises the following steps: respectively converting road surfaces and ground objects in high-precision vector map data into 3D scene models; simulating a laser radar pose according to a vector road in the high-precision vector map data, wherein the vehicle laser radar pose comprises a position and a forward direction; setting various parameters to simulate the visual condition of the laser radar so as to simulate the light reflection relation of the 3D scene, and carrying out calculation to obtain points in the visual range of the laser radar for point cloud reconstruction; the 3D point cloud can be efficiently and stably reconstructed from the high-precision vector map, and the availability problem of the vector map in a point cloud scene is solved.

Description

technical field [0001] The invention relates to the field of high-precision map production, in particular to a three-dimensional point cloud reconstruction method and system based on high-precision vector maps. Background technique [0002] with high precision Figure 1 Generally, it is expressed in the form of vector information, but in actual use, sometimes it needs to be provided in the form of point cloud, such as using point cloud for direct registration during positioning, or establishing a simulation point cloud scene during training, etc. [0003] Conventional point cloud data needs to be collected by expensive lidar equipment used in on-site collection vehicles, and the collected point cloud data is often very complex, requiring a lot of processing to extract useful information, and the cost is very high. However, due to the large gap between high-precision vector map data and point cloud data, it is difficult to directly use high-precision vector map data in point ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/894
CPCG01S17/894
Inventor 石涤文尹玉成覃飞杨蔡晨刘奋
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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