Laser radar positioning method, device and medium

Abstract

The present invention discloses a positioning method for a laser radar, comprising: controlling the laser radar to collect point data; screening and processing the point data to obtain current point cloud data; based on the current point cloud data, screening out local reflectors and obtaining the coordinates of the local reflectors relative to the laser radar; using the coordinates of the local reflectors relative to the laser radar as local coordinates; determining whether initial positioning has been performed; if so, performing continuous positioning, screening out the correct reflector based on the point cloud data of the previous moment, the current point cloud data and the local coordinates, and finally obtaining the current posture of the laser radar, which can remove the wrong reflector and improve the accuracy of the matching result.

Description

Technical Field

[0001] The present invention relates to the field of laser radar positioning, and in particular to a laser radar positioning method, equipment and medium. Background Art

[0002] With the development of intelligence in today's society, factories have an increasing demand for unmanned vehicles. Positioning is one of the core technologies that enable unmanned vehicles to operate autonomously. Currently, commonly used positioning methods include QR codes, magnetic stripes, lasers, etc. Among them, the positioning path based on magnetic stripes is single and has limited use. The method of using reflectors to locate laser radars is to first locate the reflectors, and then locate the laser radar through the relationship between the reflectors and the laser radar to obtain the position and posture of the laser radar. This type of method has been widely used due to its good stability, strong adaptability, and high positioning accuracy. Among them, the existing methods for locating reflectors include triangulation positioning and trilateral positioning. The triangulation positioning algorithm achieves positioning by measuring the angle between the reflector and the longitudinal axis of the robot. The trilateral positioning algorithm calculates the angle and distance separately during positioning. These two algorithms cannot remove the wrong reflectors, which affects the matching results. When calculating the position and posture, global matching must be performed, which requires a large amount of calculation. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a positioning method of a laser radar, which can remove the wrong reflector and improve the accuracy of the matching result.

[0004] The present invention also proposes a device and a medium having the above-mentioned laser radar positioning method.

[0005] A laser radar positioning method according to an embodiment of the first aspect of the present invention includes:

[0006] Control the laser radar to collect point data;

[0007] Screening the point data to obtain current point cloud data;

[0008] According to the current point cloud data, the coordinates of the local reflector relative to the laser radar are obtained; and the coordinates of the local reflector relative to the laser radar are used as local coordinates;

[0009] Determine whether initial positioning has been performed;

[0010] If yes, the current position and posture of the laser radar is obtained according to the point cloud data at the previous moment, the current point cloud data and the local coordinates to perform continuous positioning;

[0011] Wherein, obtaining the current posture of the laser radar according to the point cloud data at the previous moment, the current point cloud data and the local coordinates includes:

[0012] Obtaining the relative position and posture of the laser radar according to the point cloud data at the previous moment and the current point cloud data;

[0013] According to the relative posture and the posture at the previous moment, a current estimated posture of the laser radar is obtained;

[0014] Determine a correct reflector according to the current estimated pose and the local coordinates and determine a local coordinate point set of the correct reflector and a corresponding global coordinate point set;

[0015] The current pose of the laser radar is obtained according to the current estimated pose of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set.

[0016] A laser radar positioning method according to an embodiment of the present invention has at least the following beneficial effects: the present invention adopts the correspondence between local and global, first obtains the coordinates of the local reflector relative to the laser radar, and then screens out the correct reflector by estimating the current posture of the laser radar and the coordinates of the above-mentioned reflector relative to the laser radar, thereby improving the accuracy and stability of positioning; and mainly calculates and matches the local coordinates, with a small amount of calculation and a fast running speed.

[0017] According to some embodiments of the present invention, obtaining the coordinates of the local reflector relative to the laser radar according to the current point cloud data includes:

[0018] Obtaining the intensity of the current point cloud data;

[0019] According to the intensity of the current point cloud data, point cloud data having an intensity within a set intensity threshold range is screened out from the current point cloud data as a first point set;

[0020] Performing filtering on the first point set to obtain a second point set;

[0021] Performing clustering processing on the second point set to obtain a local reflector point set;

[0022] The coordinates of the local reflector relative to the laser radar are obtained according to the local reflector point set.

[0023] According to some embodiments of the present invention, obtaining the coordinates of the local reflector relative to the laser radar according to the local reflector point set includes:

[0024] The centroid of the local reflector point set is calculated, and the coordinates of the centroid are used as the coordinates of the local reflector relative to the laser radar.

[0025] According to some embodiments of the present invention, the laser radar positioning method further includes:

[0026] If the initial positioning has not been performed, the current position of the laser radar is obtained according to the local coordinates to perform the initial positioning.

[0027] According to some embodiments of the present invention, obtaining the current posture of the laser radar according to the local coordinates includes:

[0028] In the local reflector point set, any three points are taken to form a plurality of triangles, the plurality of triangles are used as local triangles, and the vertex coordinates of the local triangles are obtained;

[0029] Determining parameters of the local triangle;

[0030] According to the parameters of the local triangle, determining the global triangle corresponding to the local triangle in the global reflector and determining the vertex coordinates of the corresponding global triangle;

[0031] The current position and posture of the laser radar are obtained according to the vertex coordinates of the local triangle and the vertex coordinates of the corresponding global triangle.

[0032] According to some embodiments of the present invention, the parameters of the local triangle are vertex order, side length and perimeter;

[0033] Determining the global triangle corresponding to the local triangle in the global reflector according to the parameters of the local triangle comprises:

[0034] In the global reflector, take any three points to form several triangles, and use these triangles as global triangles;

[0035] Sort the vertices of the local triangle and the vertices of the global triangle counterclockwise to obtain three vertex sortings of the local triangle and one vertex sorting of the global triangle respectively;

[0036] Determine a first difference between the perimeter of the local triangle and the perimeter of the global triangle, and select global triangles whose first difference is less than a perimeter threshold;

[0037] In the global triangles whose first difference is less than the perimeter threshold, the three vertex sortings of the local triangle and the edge length sorting relative to one vertex sorting of the global triangle are compared respectively, and the global triangles whose each edge length difference in the edge length sorting is less than the edge length threshold are taken as the corresponding global triangle of the local triangle in the global reflector.

[0038] According to some embodiments of the present invention, determining the correct reflector and determining the local coordinate point set of the correct reflector and its corresponding global coordinate point set according to the current estimated pose and the local coordinates includes:

[0039] Obtaining the global estimated coordinates of the local reflector according to the current estimated pose and the local coordinates;

[0040] The global estimated coordinates of the local reflector are compared with the coordinates of the global reflector. If the distance between the coordinates of the global reflector and the global estimated coordinates of the local reflector is less than a set distance threshold, the coordinates of the global reflector are added to the global coordinate point set of the correct reflector, and the local coordinates of the reflector are added to the local coordinate point set of the correct reflector.

[0041] According to some embodiments of the present invention, obtaining the current pose of the laser radar according to the current estimated pose of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set includes:

[0042] Optimizing and calculating the optimized value according to the current estimated posture of the laser radar, the local coordinate point set of the correct reflector and the corresponding global coordinate point set;

[0043] The current pose of the laser radar is obtained according to the optimization value and the current estimated pose of the laser radar.

[0044] An electronic device according to a second aspect of an embodiment of the present invention includes:

[0045] Memory, used to store programs;

[0046] A processor is used to execute the program stored in the memory. When the processor executes the program stored in the memory, the processor is used to execute the method as described in any one of the first aspects.

[0047] A storage medium according to an embodiment of a third aspect of the present invention stores computer executable instructions, wherein the computer executable instructions are used to execute the method as described in any one of the first aspects.

[0048] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0050] Figure 1is a flow chart of a laser radar positioning method provided by one embodiment of the present invention;

[0051] Figure 2 yes Figure 1 Specific flow chart of step S500;

[0052] Figure 3 yes Figure 1 Schematic diagram of step S600 in FIG. DETAILED DESCRIPTION

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

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

[0055] like Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a laser radar positioning method, including:

[0056] Step S100, controlling the laser radar to collect point data;

[0057] Step S200, filtering and processing the point data to obtain current point cloud data; in one embodiment, according to a set point distance threshold, points that do not meet the requirements are removed, and point data that meet the point distance threshold are converted into point cloud data to obtain current point cloud data; the point distance threshold can be set by a person skilled in the art according to actual conditions;

[0058] Step S300, according to the current point cloud data, obtain the coordinates of the local reflector relative to the laser radar; the coordinates of the local reflector relative to the laser radar are used as local coordinates; the local coordinates are the coordinates of the local reflector in the laser radar coordinate system;

[0059] Step S400, determining whether initial positioning has been performed;

[0060] If yes, execute step S500; if no, execute step S600;

[0061] Step S500, obtaining the current position and posture of the laser radar according to the point cloud data of the previous moment, the current point cloud data and the local coordinates for continuous positioning;

[0062] Step S600, obtaining the current position and posture of the laser radar according to the local coordinates for initial positioning;

[0063] Among them, in step S500, continuous positioning is performed, and the current posture of the laser radar is obtained according to the point cloud data of the previous moment, the current point cloud data and the local coordinates, including:

[0064] Step S510, according to the point cloud data of the previous moment and the current point cloud data, the relative posture of the laser radar is obtained; in one embodiment, the PL-ICP algorithm is used for calculation, and the process of the PL-ICP algorithm is as follows: the current point cloud data is projected to the laser radar coordinate system; for the current point cloud data, the nearest two points are found in the laser radar coordinate system using the nearest neighbor rule; the error is calculated, and the points with too large errors are removed, and the distance between the current point cloud data and the line segment composed of the two nearest neighbor points is taken as the error; the rotation matrix and the translation matrix are solved according to the minimization error function, and the rotation matrix and the translation matrix are the relative posture of the laser radar; wherein, the nearest neighbor rule and the minimization error function are easily understood by those skilled in the art;

[0065] Step S520: obtaining a current estimated pose of the laser radar according to the relative pose and the pose at the previous moment; in one embodiment, the current estimated pose of the laser radar is the sum of the relative pose and the pose at the previous moment;

[0066] Step S530: determine the correct reflector according to the current estimated pose and local coordinates and determine the local coordinate point set of the correct reflector and its corresponding global coordinate point set; select the correct reflector and delete the wrong reflector;

[0067] Step S540, obtaining the current pose of the laser radar according to the current estimated pose of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set.

[0068] In one embodiment, in step S300, obtaining the coordinates of the local reflector relative to the laser radar according to the current point cloud data includes:

[0069] Step S310, obtaining the intensity of the current point cloud data;

[0070] Step S320: based on the intensity of the current point cloud data, point cloud data with intensities within a set intensity threshold range is selected from the current point cloud data as a first point set; it should be noted that the intensity threshold range can be set by a person skilled in the art according to actual conditions;

[0071] Step S330, filtering the first point set to obtain a second point set; in one embodiment, statistical filtering is performed to filter out discrete points;

[0072] Step S340, clustering the second point set to obtain a local reflector point set; since the reflector has a certain size, a small pile of point sets is fed back in the data;

[0073] Step S350: Obtain the coordinates of the local reflector relative to the laser radar based on the local reflector point set.

[0074] In one embodiment, in step S350, obtaining the coordinates of the local reflector relative to the laser radar according to the local reflector point set includes:

[0075] Calculate the centroid of the local reflector point set, and use the coordinates of the centroid as the coordinates of the local reflector relative to the lidar; calculate the centroid of the local reflector point set, and the centroid is the average coordinate of all the point coordinates in the point set.

[0076] In one embodiment, in step S600, obtaining the current position and posture of the laser radar according to the local coordinates includes:

[0077] Step S610, in the local reflector point set, any three points are selected to form a plurality of triangles, and the plurality of triangles are used as local triangles to obtain the vertex coordinates of the local triangles;

[0078] Step S620, determining parameters of the local triangle;

[0079] Step S630, determining the global triangle corresponding to the local triangle in the global reflector according to the parameters of the local triangle and determining the vertex coordinates of the corresponding global triangle;

[0080] Step S640, obtaining the current position and posture of the laser radar according to the vertex coordinates of the local triangle and the vertex coordinates of the corresponding global triangle; in one embodiment, SVD decomposition is used to achieve this;

[0081] It should be noted that the global reflector is pre-built and known; the local reflector is extracted from the point cloud data collected by the lidar.

[0082] In one embodiment, the parameters of the local triangle are vertex order, side length and perimeter respectively; in the global reflector, a triangle with a similar side length, similar perimeter and consistent vertex order as the local triangle is selected;

[0083] In step S630, according to the parameters of the local triangle, determining the corresponding global triangle of the local triangle in the global reflector includes:

[0084] Step S631, in the global reflector, take any three points to form a number of triangles, and use the triangles as global triangles;

[0085] Step S632, sorting the vertices of the local triangle and the vertices of the global triangle counterclockwise to obtain three vertex sortings of the local triangle and one vertex sorting of the global triangle respectively;

[0086] Step S633: determine a first difference between the perimeter of the local triangle and the perimeter of the global triangle, and select global triangles whose first difference is less than the perimeter threshold; select triangles with similar perimeters; in one embodiment, the triangles may also be sorted in a clockwise order;

[0087] Step S634: among the global triangles whose first difference is less than the perimeter threshold, respectively compare the three vertex sortings of the local triangle and the side length sortings of one vertex sorting of the global triangle, and use the global triangles whose side length differences in the side length sorting are all less than the side length threshold as the global triangles corresponding to the local triangles in the global reflector;

[0088] For example: Figure 3 , in the local reflector point set, there is a local reflector, and the local reflector has triangle ABC; in the global reflector, there is triangle DEF, and it is necessary to determine whether triangle DEF is the corresponding triangle of triangle ABC in the global reflector; first, sort the vertices of triangle DEF and triangle ABC counterclockwise, the vertices of triangle DEF are DEF, EFD, and FDE, and the vertices of triangle ABC are BCA, ABC, and CAB; determine the first difference between the perimeter of the local triangle and the perimeter of the global triangle, assuming that the perimeter of triangle DEF is 10.1 and the perimeter of triangle ABC is 10, then the first difference is 0.1; the perimeter threshold is set to 0.2, and the first difference is less than the perimeter threshold, so it can be said that the perimeter of triangle DEF is similar to that of triangle ABC; when the vertex order of triangle DEF is DEF, the sides corresponding to the vertex order are EF, DF, and DE;

[0089] When the vertex order of triangle ABC is BCA, the corresponding sides of the vertex order are AC, AB, and BC. EF and AC, DF and AB, and DE and BC are compared respectively. Assume that AB=3, AC=2.2, BC=4.1, EF=4, DF=2, and DE=3, and the edge length threshold is 0.3. The edge length difference between EF and AC is 1.8, the edge length difference between DF and AB is 1, and the edge length difference between DE and BC is 1.1. The edge length difference between EF and AC is 1.8, the edge length difference between DF and AB is 1, and the edge length difference between DE and BC is 1.1, which are all greater than the edge length threshold of 0.3. Therefore, EF and AC, DF and AB, and DE and BC are not similar in length. Therefore, this vertex order does not match, and the next matching order is required, and so on.

[0090] When the vertex order of triangle ABC is ABC, the corresponding sides of the vertex order are BC, AC, and AB respectively; EF and BC, DF and AC, and DE and AB need to be compared respectively; then the side length difference between EF and BC is 0.1, the side length difference between DF and AC is 0.2, and the side length difference between DE and AB is 0; the side length difference between EF and BC 0.1 is less than the side length threshold of 0.3, the side length difference between DF and AC 0.2 is less than the side length threshold of 0.3, and the side length difference between DE and AB is 0, which is less than the side length threshold of 0.3. Therefore, EF and BC, DF and AC, and DE and AB are all of similar side lengths. Therefore, this vertex ordering matches, and it can be considered that triangle DEF is the triangle corresponding to triangle ABC in the global reflector;

[0091] In summary, compare the three vertex orderings of triangle ABC with the vertex ordering of triangle DEF. As long as the three side lengths of one vertex ordering are similar, triangle DEF can be considered to be the corresponding triangle of triangle ABC in the global reflector.

[0092] It should be noted that the local triangle and the global triangle are not equilateral triangles; the side length threshold and the perimeter threshold can be set by those skilled in the art according to actual conditions.

[0093] In one embodiment, in step S530, determining the correct reflector according to the current estimated pose and local coordinates and determining the local coordinate point set of the correct reflector and its corresponding global coordinate point set includes:

[0094] According to the current estimated pose and local coordinates, the global estimated coordinates of the local reflector are obtained;

[0095] Comparing the global estimated coordinates of the local reflector with the coordinates of the global reflector, if there is a global reflector whose coordinates are less than a set distance threshold from the global estimated coordinates of the local reflector, adding the coordinates of the global reflector to the global coordinate point set of the correct reflector, and adding the local coordinates of the reflector to the local coordinate point set of the correct reflector;

[0096] Assuming the current estimated posture (T, R), local coordinate t, according to the formula t'=T+R*t, calculate the global estimated coordinate t' of each local reflector, and find the global coordinate close to the estimated position from the global reflector. If it cannot be found, it is considered that this reflector is an incorrect reflector and is deleted; if it can be found, the reflector is the correct reflector, and the global coordinate can be considered as the projection of this local reflector in the global reflector. The local coordinates and global coordinates of the reflector at this time are recorded, and finally the local coordinate point set of the correct reflector and the global coordinate point set of the correct reflector are obtained; the distance threshold can be set by technical personnel in this field according to actual conditions.

[0097] In one embodiment, in step S540, according to the current estimated pose of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set, the current pose of the laser radar is obtained, including:

[0098] According to the current estimated pose of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set, optimization is performed and the optimization value is calculated; CERES is used to optimize the current estimated pose so that the error between the local coordinate point set and the global coordinate point set after rotation and translation is minimized; the formula for calculating the optimization value is as follows:

[0099]

[0100] Among them, Cost is the optimization value; the current estimated pose (T, R); Psi: the i-th coordinate point in the local coordinate point set; Pdi: the i-th coordinate point in the global coordinate point set;

[0101] According to the optimization value and the current estimated pose of the laser radar, the current pose of the laser radar is obtained; the current estimated pose with the minimum cost is taken as the current pose of the laser radar.

[0102] The embodiment of the present invention further provides an electronic device, which includes but is not limited to:

[0103] Memory, used to store programs;

[0104] The processor is used to execute the program stored in the memory. When the processor executes the program stored in the memory, the processor is used to execute the above-mentioned laser radar positioning method.

[0105] The processor and the memory may be connected via a bus or other means.

[0106] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs, such as the laser radar positioning method described in the embodiment of the present invention. The processor implements the above-mentioned laser radar positioning method by running the non-transitory software programs and instructions stored in the memory.

[0107] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store a positioning method for executing the above-mentioned laser radar. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0108] The non-transitory software programs and instructions required to implement the above-mentioned terminal selection method are stored in the memory, and when executed by one or more processors, the above-mentioned laser radar positioning method is executed.

[0109] An embodiment of the present invention further provides a storage medium storing computer executable instructions, where the computer executable instructions are used to execute the above-mentioned laser radar positioning method.

[0110] In one embodiment, the storage medium stores computer executable instructions that are executed by one or more control processors.

[0111] The above described embodiments are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0112] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0113] Embodiments of the present invention are described herein, including preferred embodiments known to the inventor for performing the present invention. After reading the above description, the variations of these described embodiments will become apparent to those skilled in the art. The inventor wishes that the technician adopt such variations as appropriate, and the inventor intends to practice the embodiments of the present invention in a manner different from that specifically described herein. Therefore, as permitted by applicable law, the scope of the present invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto. In addition, the scope of the present invention encompasses any combination of the above-mentioned elements in all possible variations thereof, unless otherwise indicated herein or otherwise clearly contradicted by context.

Claims

1. A laser radar positioning method, characterized in that: include: Control the laser radar to collect point data; Screening the point data to obtain current point cloud data; According to the current point cloud data, the coordinates of the local reflector relative to the laser radar are obtained; and the coordinates of the local reflector relative to the laser radar are used as local coordinates; Determine whether initial positioning has been performed; If yes, the current position and posture of the laser radar is obtained according to the point cloud data at the previous moment, the current point cloud data and the local coordinates to perform continuous positioning; Wherein, obtaining the current posture of the laser radar according to the point cloud data at the previous moment, the current point cloud data and the local coordinates includes: Obtaining the relative position and posture of the laser radar according to the point cloud data at the previous moment and the current point cloud data; According to the relative posture and the posture at the previous moment, a current estimated posture of the laser radar is obtained; Determine a correct reflector according to the current estimated pose and the local coordinates and determine a local coordinate point set of the correct reflector and a corresponding global coordinate point set; Obtaining the current pose of the laser radar according to the current estimated pose of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set; The step of obtaining the current posture of the laser radar according to the current estimated posture of the laser radar, the correct local coordinate point set of the reflector and the corresponding global coordinate point set includes: According to the current estimated posture of the laser radar, the local coordinate point set of the correct reflector and its corresponding global coordinate point set, optimization is performed and the optimization value is calculated; the current estimated posture is optimized so that the error between the local coordinate point set and the global coordinate point set after rotation and translation is minimized; the formula for calculating the optimization value is as follows: Among them, Cost is the optimization value; (T, R) is the current estimated pose; Psi is the i-th coordinate point in the local coordinate point set; Pdi is the i-th coordinate point in the global coordinate point set; According to the optimization value and the current estimated pose of the laser radar, the current pose of the laser radar is obtained; the current estimated pose with the minimum cost is taken as the current pose of the laser radar.

2. The laser radar positioning method according to claim 1, characterized in that: The step of obtaining the coordinates of the local reflector relative to the laser radar according to the current point cloud data includes: Obtaining the intensity of the current point cloud data; According to the intensity of the current point cloud data, point cloud data having an intensity within a set intensity threshold range is screened out from the current point cloud data as a first point set; Performing filtering on the first point set to obtain a second point set; Performing clustering processing on the second point set to obtain a local reflector point set; The coordinates of the local reflector relative to the laser radar are obtained according to the local reflector point set.

3. The laser radar positioning method according to claim 2, characterized in that: The step of obtaining the coordinates of the local reflector relative to the laser radar according to the local reflector point set comprises: The centroid of the local reflector point set is calculated, and the coordinates of the centroid are used as the coordinates of the local reflector relative to the laser radar.

4. The laser radar positioning method according to claim 2, characterized in that: The laser radar positioning method also includes: If the initial positioning has not been performed, the current position of the laser radar is obtained according to the local coordinates to perform the initial positioning.

5. The laser radar positioning method according to claim 4, characterized in that: The step of obtaining the current position and posture of the laser radar according to the local coordinates includes: In the local reflector point set, any three points are taken to form a plurality of triangles, the plurality of triangles are used as local triangles, and the vertex coordinates of the local triangles are obtained; Determining parameters of the local triangle; According to the parameters of the local triangle, determining the global triangle corresponding to the local triangle in the global reflector and determining the vertex coordinates of the corresponding global triangle; The current position and posture of the laser radar are obtained according to the vertex coordinates of the local triangle and the vertex coordinates of the corresponding global triangle.

6. The laser radar positioning method according to claim 5, characterized in that: The parameters of the local triangle are vertex order, side length and perimeter respectively; Determining the global triangle corresponding to the local triangle in the global reflector according to the parameters of the local triangle comprises: In the global reflector, take any three points to form several triangles, and use these triangles as global triangles; Sort the vertices of the local triangle and the vertices of the global triangle counterclockwise to obtain three vertex sortings of the local triangle and one vertex sorting of the global triangle respectively; Determine a first difference between the perimeter of the local triangle and the perimeter of the global triangle, and select global triangles whose first difference is less than a perimeter threshold; In the global triangles whose first difference is less than the perimeter threshold, the three vertex sortings of the local triangle and the edge length sorting relative to one vertex sorting of the global triangle are compared respectively, and the global triangles whose each edge length difference in the edge length sorting is less than the edge length threshold are taken as the corresponding global triangle of the local triangle in the global reflector.

7. The laser radar positioning method according to claim 1, characterized in that: Determining the correct reflector according to the current estimated pose and the local coordinates and determining the local coordinate point set of the correct reflector and its corresponding global coordinate point set comprises: Obtaining the global estimated coordinates of the local reflector according to the current estimated pose and the local coordinates; The global estimated coordinates of the local reflector are compared with the coordinates of the global reflector. If the distance between the coordinates of the global reflector and the global estimated coordinates of the local reflector is less than a set distance threshold, the coordinates of the global reflector are added to the global coordinate point set of the correct reflector, and the local coordinates of the reflector are added to the local coordinate point set of the correct reflector.

8. An electronic device, characterized in that: include: Memory, used to store programs; A processor, configured to execute the program stored in the memory. When the processor executes the program stored in the memory, the processor is configured to execute the method as claimed in any one of claims 1 to 7.

9. A storage medium, characterized in that: Computer executable instructions are stored, and the computer executable instructions are used to execute the method according to any one of claims 1 to 7.

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