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Positioning method and device of laser radar and medium

A technology of laser radar and positioning method, applied in radio wave measurement systems, instruments, etc., can solve the problems of affecting matching results, unable to remove reflectors, large amount of calculation, etc., achieving small amount of calculation, improving accuracy and stability, Fast-running effects

Pending Publication Date: 2022-04-19
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Description
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  • Application Information

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Problems solved by technology

Because these two algorithms cannot remove the wrong reflector, the matching results are affected. When calculating the pose, global matching is required, and the amount of calculation is large.

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  • Positioning method and device of laser radar and medium
  • Positioning method and device of laser radar and medium
  • Positioning method and device of laser radar and medium

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0054] It should be understood that in the description of the embodiments of the present invention, multiple (or multiple) means two or more, greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number. If there is a description of "first", "second", etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the ind...

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Abstract

The invention discloses a laser radar positioning method. The method comprises the following steps: controlling a laser radar to collect point data; performing screening processing on the point data to obtain current point cloud data; according to the current point cloud data, screening out local reflectors and obtaining coordinates of the local reflectors relative to the laser radar; taking the coordinates of the local reflector relative to the laser radar as local coordinates; determining whether initial positioning is performed or not; if yes, continuous positioning is carried out, correct reflectors are screened out according to the point cloud data at the previous moment, the current point cloud data and the local coordinates, and finally the current pose of the laser radar is obtained, so that the wrong reflectors can be removed, and the accuracy of a matching result is improved.

Description

technical field [0001] The invention relates to the field of laser radar positioning, in particular to a laser radar positioning method, equipment and medium. Background technique [0002] With the development of intelligence in today's society, the demand for unmanned vehicles in factories is also increasing. Positioning is one of the core technologies for unmanned vehicles to operate autonomously. Currently commonly used positioning methods include QR codes, magnetic stripes, and lasers. Among them, the positioning path based on the magnetic stripe is single, and its use is limited. The method of using the reflector to locate the lidar is to locate the reflector first, and then locate the lidar through the relationship between the reflector and the lidar, and obtain the pose of the lidar. This kind of method has been widely used because of its good stability, strong adaptability and high positioning accuracy. Among them, the existing methods for positioning the reflecto...

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Application Information

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IPC IPC(8): G01S7/48
CPCG01S7/4808
Inventor 陆永富钟杰辉陈敬祥
Owner GUANGDONG JATEN ROBOT & AUTOMATION