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Laser radar data receiving, analyzing, fusing and visualizing method

A laser radar and data technology, applied in the direction of climate sustainability, electromagnetic wave re-radiation, instruments, etc., to achieve the effect of supporting offline playback and real-time display

Pending Publication Date: 2022-05-17
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the processing of the ground terminal is an offline processing process, and no choice is provided. It supports offline processing of the full data link or online processing of the full link, which has application limitations.

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  • Laser radar data receiving, analyzing, fusing and visualizing method
  • Laser radar data receiving, analyzing, fusing and visualizing method
  • Laser radar data receiving, analyzing, fusing and visualizing method

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Embodiment Construction

[0018] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0019] like Figure 1 to Figure 3 As shown, a method for laser radar data reception, analysis, fusion and visualization in this specific embodiment includes the following steps:

[0020] (1) Collect and summarize the original point cloud data obtained by multiple laser radars on the vehicle body through the data acquisition module, and send the original point cloud data to the data processing module through network communication;

[0021] (2) The data processing module analyzes and processes the original point cloud data of each lidar, and then broadcasts the analyzed and processed data to the data receiving module through ZMQ;

[0022] (3) The data receiving module receives multiple analysis and processing data, and synchronizes the time of each analysis and processing data, sends the synchronized data to the visualization module for analysis, and displays ...

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Abstract

The invention discloses a laser radar data receiving, analyzing, fusing and visualizing method, which comprises the following steps of: acquiring and summarizing original point cloud data acquired by a plurality of laser radars on a vehicle body through a data acquisition module, and sending the original point cloud data to a data processing module in a network communication mode; the original point cloud data of each laser radar is analyzed and processed through a data processing module, and then each analyzed and processed data is broadcasted to a data receiving module through a ZMQ; and then the data receiving module receives the multiple pieces of analysis processing data, performs time synchronization on the analysis processing data, sends the synchronized data to the visualization module for analysis, displays an analysis result in real time, and stores the synchronized data to the local or a cloud end at the same time. According to the invention, data is collected and analyzed concurrently through multiple threads, broadcast data is distributed through a high-performance ZMQ platform, and real-time display and offline playback are supported.

Description

technical field [0001] The invention relates to the technical field of laser radar processing, in particular to a method for receiving, analyzing, merging and visualizing laser radar data. Background technique [0002] Lidar is a system that emits laser beams to detect the position, speed and other characteristic quantities of the target. Its working principle is to transmit a detection signal (laser beam) to the target, and then combine the received signal (target echo) reflected from the target with the After the transmitted signals are compared and properly processed, the relevant information of the target can be obtained, such as target distance, azimuth, height, speed, attitude, and even shape parameters. Lidar is widely used, especially with the development of smart cars, Lidar technology is widely used in automatic driving of cars. [0003] The invention patent with the patent number CN111694012A discloses a method and system for on-line generation of 3D terrain base...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/931G01S7/48
CPCG01S17/931G01S7/4802Y02A90/10
Inventor 姚志伟任凡王宽丛伟伦邓皓匀
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD