DeeplabV3 +-based instant positioning and mapping method for obstacles in unfamiliar sea area
A technology of map construction and obstacles, applied in the field of unmanned boats, can solve the problems of high false alarm rate, long baseline stability, poor matching accuracy, etc., and achieve the effect of optimizing training results, enriching diversity, and quickly separating and positioning
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[0080] Example 1:
[0081] as Figure 1 As shown in, the implementation steps of an obstacle real-time location and map construction method in unfamiliar sea areas based on deeplabv3 + are as follows:
[0082] A. Through the joint calibration of lidar and visible camera, the transformation relationship between lidar coordinate system and visible camera coordinate system is obtained, that is, the rotation matrix and translation vector from lidar coordinate system to visible camera coordinate system;
[0083] The parameters of the camera are calibrated by using the white checkerboard; Prepare the checkerboard calibration board with no white edge on the edge, set the acquisition frequency of lidar and visible camera to 10Hz, and use the rosbag command in ROS to synchronously collect the checkerboard data of visible camera and lidar; The corner extraction algorithm is used to extract the coordinates of the checkerboard corner in the visible image; The laser point cloud processing soft...
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