Laser point cloud motion distortion correction method, device, electronic device and storage medium

Abstract

The present application relates to the technical field of robot positioning and mapping, and provides a laser point cloud motion distortion correction method, device, electronic device and storage medium. By reading a frame of point cloud data information collected by a laser radar, the point cloud data information Contains coordinate data of multiple laser points and first timestamp information corresponding to each of the laser points; aligns the first timestamp information with the time axis of the binocular event camera, and obtains the first laser corresponding to the robot The initial pose information of the point; based on the uniform acceleration motion model, according to the time axis of the binocular event camera, calculate the first pose information of the robot corresponding to each of the laser points; The initial pose information is used to calculate the pose transformation matrix of the robot corresponding to each of the laser points; the coordinates of the corresponding laser points are corrected according to each of the pose transformation matrices; the present invention has the advantages of small measurement error and high correction accuracy. high beneficial effect.

Description

technical field [0001] The present application relates to the technical field of robot positioning and mapping, and in particular, to a method, device, electronic device and storage medium for correcting motion distortion of a laser point cloud. Background technique [0002] Laser SLAM (Simultaneous Localization and Mapping) technology is the core technology of intelligent robots. The Chinese interpretation is real-time positioning and map construction, or concurrent mapping and positioning. By using laser SLAM technology, the robot can locate and map the scene, and then realize its own autonomous navigation and real-time obstacle avoidance functions. The sensors using laser SLAM technology are mainly lidars. Currently, the lidars on the market are all 10Hz, that is, the lidar rotates 10 times in 1 second to collect environmental point cloud information. The lidar passes through the process of collecting a frame of laser point cloud data. 0.1s, when the robot is in high-spe...

AI Technical Summary

Problems solved by technology

However, the IMU sensor directly measures the acceleration and angular velocity, and the pose data is an indirect measurement value realized by integration. The measurement error will accumulate over time, and the measurement error of the IMU sensor will be further amplified under static or low-speed motion, further affecting Mapping accuracy

There are also some traditional methods that use a uniform motion model to estimate the point cloud motion distortion of the lidar. However, when the lidar is in a state of emergency stop, quick start, and turning, the linear acceleration and angular acceleration of the lidar are relatively large. Using the traditional method The uniform motion model to estimate the motion distortion of the laser point cloud will have a large error

[0004] Based on the above problems, there is currently no effective solution

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