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Initial position determination method based on laser radar mapping positioning and terminal

A laser radar, initial position technology, applied in the direction of measurement device, electromagnetic wave re-radiation, navigation, etc., can solve the problem of unknown initial position of restart program, and achieve the effect of saving time

Pending Publication Date: 2022-07-22
江苏盛海智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide an initial position determination method and terminal based on lidar mapping and positioning, and solve the problem that the initial position is unknown when the program is restarted after lidar mapping

Method used

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  • Initial position determination method based on laser radar mapping positioning and terminal
  • Initial position determination method based on laser radar mapping positioning and terminal
  • Initial position determination method based on laser radar mapping positioning and terminal

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Experimental program
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Embodiment 1

[0064] Please refer to figure 1 , the first embodiment of the present invention is:

[0065] An initial position determination method based on lidar mapping and positioning, comprising the steps of:

[0066] S1. Load track point data;

[0067] S2. Graphically display the track point data to the graphical interface;

[0068] S3. According to the current position of the vehicle, a trajectory point matching the current position is selected on the graphical interface, and the error is self-corrected to obtain the initial position.

[0069] That is, in this embodiment, by graphically displaying the trajectory point data during mapping, when the lidar is restarted, the trajectory point matching the current vehicle position can be directly selected on the graphical interface for error self-correction to obtain the vehicle's trajectory point data. The initial position is to realize the simple and quick determination of the initial position of the vehicle on the map, without the nee...

Embodiment 2

[0070] Please refer to figure 2 , the second embodiment of the present invention is:

[0071] A method for determining an initial position based on lidar mapping and positioning, on the basis of the above-mentioned first embodiment, in this embodiment, before step S1, the method further includes:

[0072] When building a lidar map, save the point cloud data and track point data of the map, that is, save the point cloud data and track point data during lidar building, so as to facilitate subsequent calls for error self-correction and graphical display.

[0073] Wherein, in this embodiment, in step S2, the method of graphically displaying the track point data saved during the mapping to the graphical interface is as follows:

[0074] S21, using CloudViewer in the visualization module of the PCL library to generate a visualization window viewer;

[0075] S22. Load the mouse callback function, keyboard callback function and point pickup callback function in the visual window vi...

Embodiment 3

[0084] Please refer to image 3 , the third embodiment of the present invention is:

[0085] An initial position determination terminal 1 based on lidar mapping and positioning, comprising a memory 2, a processor 3, and a computer program stored in the memory 2 and running on the processor 3, and the processor 3 implements the following when executing the computer program. Steps in a method for determining an initial position based on lidar mapping and positioning in the first embodiment or the second embodiment.

[0086] To sum up, the present invention provides a method and terminal for initial position determination based on lidar mapping and positioning. By graphically displaying the trajectory point data during mapping, when the lidar is restarted, it can be directly displayed on the graphical interface. The accurate initial position of the vehicle is obtained by selecting the trajectory point that matches the current vehicle position and performing error self-correction...

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Abstract

The invention provides an initial position determination method based on laser radar mapping positioning and a terminal. The method comprises the following steps: loading track point data; displaying the track point data to a graphical interface in a graphical manner; according to the current position of the vehicle, a track point matched with the current position is selected on the graphical interface, error self-correction is carried out, and the initial position is obtained. According to the invention, through the graphical display of the trajectory point data during mapping, when the laser radar is restarted, the initial position of the vehicle can be obtained by directly selecting the trajectory point matched with the current vehicle position on the graphical interface to carry out error self-correction, that is, the initial position of the vehicle on the map can be simply and quickly determined without re-mapping, and the method and the device are convenient to use. And the time is effectively saved.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a method and a terminal for determining an initial position based on laser radar mapping and positioning. Background technique [0002] The environmental perception technology in the process of autonomous driving is an important part of it. The existing sensors for environmental perception mainly include lidar and cameras. Among them, lidar has the advantages of strong anti-interference and is not affected by light. At present, there have been a lot of studies on environmental perception technology in structured environments, and lidar presents better perception effects, which can realize mapping positioning and mapping. During the process, the mapping effect is better when the speed is reduced. After building the map that needs to be used frequently, save it locally, and directly load the corresponding map data each time it restarts, which saves a lot of mapping time, but ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C25/00G01S7/497G01S17/89
CPCG01C21/3811G01C21/3856G01C25/00G01S7/497G01S17/89
Inventor 杨静叶军余平张加法何春洪
Owner 江苏盛海智能科技有限公司