Splicing method, device and electronic equipment

Abstract

The present application is applicable to the field of radar data processing technology, and provides a splicing method, device and electronic equipment, including: obtaining first point cloud data through a first optical path, wherein the first optical path is an optical path on a rotating structure of a rotating radar; obtaining second point cloud data through a second optical path; when a target angle is less than a first preset angle, using a first splicing strategy to splice the first point cloud data and the second point cloud data to obtain spliced ​​data, wherein the target angle is an angle formed by the first optical path to the second optical path along the rotation direction; when the target angle is greater than a second preset angle, using a second splicing strategy to splice the first point cloud data and the second point cloud data to obtain spliced ​​data; and outputting the spliced ​​data. Accurate splicing data can be obtained through the above method.

Description

Technical Field

[0001] The present application belongs to the field of radar data processing technology, and in particular, relates to a splicing method, device, electronic device and computer-readable storage medium. Background Art

[0002] At present, rotating laser radars scan the surrounding environment by combining an optical path with a rotating motor, thereby acquiring point cloud data of the environment. When the rotating laser radar has only one optical path, if you want to increase the scanning frequency, you can only increase the speed of the motor. This is equivalent to increasing the cost of the motor, and thus the cost of the rotating laser radar.

[0003] like Figure 1 As shown, in order to obtain a higher scanning frequency at a lower cost, two optical paths can be installed on the rotating laser radar, but the two optical paths are symmetrical in the rotating structure.

[0004] like Figure 1 As shown, assuming that the two symmetrical light paths are light path A and light path B, when the rotating structure rotates 180 degrees counterclockwise, light path A scans the left area, and light path B scans the right area. The scanning data obtained from the areas scanned by light path A and light path B are spliced ​​together, that is, the effect of obtaining one circle of scanning data when the rotating structure rotates half a circle can be achieved, thereby realizing frequency doubling.

[0005] However, this stitching method assumes that optical path A and optical path B are at a 180-degree relationship. In fact, due to mechanical errors and assembly errors, it is almost impossible for optical path A and optical path B to be exactly 180 degrees. Therefore, there are duplications and missing problems in the stitched scan data. Summary of the invention

[0006] The embodiments of the present application provide a stitching method, device and electronic device, which can solve the problem of inaccurate stitching data obtained when stitching point cloud data.

[0007] In a first aspect, an embodiment of the present application provides a data splicing method, characterized by comprising:

[0008] Acquire first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar;

[0009] Acquire second point cloud data through a second optical path, where the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis;

[0010] When the target angle is less than the first preset angle, a first stitching strategy is used to stitch the first point cloud data and the second point cloud data to obtain stitching data, wherein the target angle is an angle formed by the first light path to the second light path along the rotation direction;

[0011] When the target angle is greater than a second preset angle, a second stitching strategy is used to stitch the first point cloud data and the second point cloud data to obtain stitched data;

[0012] The spliced ​​data is output.

[0013] In a second aspect, an embodiment of the present application provides a splicing device, including:

[0014] A first point cloud data acquisition module, used to acquire first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar;

[0015] A second point cloud data acquisition module, used for acquiring second point cloud data through a second optical path, wherein the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis;

[0016] A first splicing module, configured to splice the first point cloud data and the second point cloud data using a first splicing strategy to obtain spliced ​​data when a target angle is less than a first preset angle, wherein the target angle is an angle formed by the first optical path to the second optical path along a rotation direction;

[0017] A second splicing module, configured to, when the target angle is greater than a second preset angle, adopt a second splicing strategy to splice the first point cloud data and the second point cloud data to obtain spliced ​​data;

[0018] The splicing data output module is used to output the splicing data.

[0019] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0021] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the method described in the first aspect above.

[0022] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0023] When the target angle is less than the first preset angle, the first point cloud data and the second point cloud data are spliced ​​using the first stitching strategy, and when the target angle is greater than the second preset angle, the first point cloud data and the second point cloud data are spliced ​​using the second stitching strategy. Since the relative positions of the first optical path and the second optical path on the rotating structure are different when the target angle is less than the first preset angle and when it is greater than the second preset angle, that is, during the stitching process, the positions of the repeated area and the missing area are also different, therefore, for the two situations, different stitching strategies are used to stitch the point cloud data, which can ensure that there is no duplication or missing in the area corresponding to the stitched data, thereby improving the accuracy of the stitched data. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0025] Figure 1 It is a schematic diagram of a structure in which two optical paths are completely symmetrical in the rotation structure;

[0026] Figure 2 It is a schematic diagram of a structure in which two optical paths are not completely symmetrical in rotation structure;

[0027] Figure 3 yes Figure 2 A schematic diagram of the positions of the two optical paths after the rotating structure is rotated 180°;

[0028] Figure 4 This is a flow chart of a first data splicing method provided by an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of the relationship between an optical path and a marker provided by another embodiment of the present application;

[0030] Figure 6 is a flow chart of a second data splicing method provided by an embodiment of the present application;

[0031] Figure 7 This is a schematic diagram of different states when a target angle is less than 180° provided by another embodiment of the present application;

[0032] Figure 8 is a flow chart of a third data splicing method provided in an embodiment of the present application;

[0033] Fig. 9It is a schematic diagram of different states when a target angle is greater than 180° provided in an embodiment of the present application;

[0034] Fig.10 It is a schematic diagram of target signals collected by optical path A and optical path B when the target provided in an embodiment of the present application is located near the center of the intersection of optical path A and optical path B;

[0035] Fig.11 It is a schematic diagram of target signals collected by optical path A and optical path B when the target provided in an embodiment of the present application is located at a remote position at the center of the intersection of optical path A and optical path B;

[0036] Fig.12 It is a structural schematic diagram of a splicing device provided in an embodiment of the present application;

[0037] Fig.13 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0039] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0040] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0041] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0042] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0043] Embodiment 1:

[0044] When two optical paths are installed on a rotating structure, due to mechanical errors and assembly errors, the angle between optical path A and optical path B is almost impossible to reach 180°. Figure 2 As shown, it is assumed that the ideal position of optical path B is at optical path B', but due to the existence of errors, its actual position is at optical path B.

[0045] When light path A moves 180° counterclockwise (assuming that the counterclockwise direction is the positive direction and the clockwise direction is the negative direction), light path B also moves 180° because it is coaxial with light path A in the rotating structure. However, the actual position scanned by light path B is as follows: Figure 3 As shown, the data spliced ​​from the optical paths A and B will have a repeated scanning area ∠BOB' (such as Figure 2 As shown, the optical path A is located at 0°), and a missing area ∠BOB' (as shown Figure 3 As shown, optical path A is located at 180°).

[0046] In order to ensure that the area corresponding to the stitched data does not have duplication or missing, an embodiment of the present application provides a data stitching method. In this method, if the target angle (the target angle is the angle formed by the first optical path to the second optical path along the rotation direction) is less than the first preset angle, the first stitching strategy is used to stitch the first point cloud data and the second point cloud data; if the target angle is greater than the second preset angle, the second stitching strategy is used to stitch the first point cloud data and the second point cloud data, and the stitched data is output.

[0047] When the target angle is less than the first preset angle and greater than the second preset angle, the relative positions of the first optical path and the second optical path on the rotating structure are different, that is, during the stitching process, the positions of the repeated area and the missing area are also different. Therefore, for the two situations, different stitching strategies are used to stitch the point cloud data, which can ensure that there is no duplication or missing in the area corresponding to the stitched data.

[0048] The data splicing method of the embodiment of the present application is described below with reference to the accompanying drawings.

[0049] Figure 4 The flowchart of the first data splicing method provided by the embodiment of the present application is shown. In this embodiment, when the rotation direction of the rotating structure is counterclockwise, the rotation direction is set to the positive direction, and the clockwise direction is set to the negative direction, as described in detail as follows:

[0050] Step S41, acquiring first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar.

[0051] In this embodiment, each point cloud data acquired by the first optical path is referred to as first point cloud data. Specifically, when the rotating structure rotates, the first optical path also rotates, thereby being able to acquire point cloud data at different angles.

[0052] Step S42, acquiring second point cloud data through a second optical path, wherein the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis.

[0053] In this embodiment, each point cloud data acquired by the second optical path is referred to as second point cloud data. Specifically, when the rotating structure rotates, the second optical path also rotates, thereby being able to acquire point cloud data at different angles. At the same time, since the second optical path and the first optical path have the same rotation axis, the angle of rotation of the second optical path is equal to the angle of rotation of the first optical path.

[0054] Step S43, when the target angle is less than the first preset angle, a first stitching strategy is used to stitch the first point cloud data and the second point cloud data to obtain stitching data, wherein the target angle is the angle formed by the first optical path to the second optical path along the rotation direction.

[0055] The first stitching strategy refers to a strategy for selecting and stitching point cloud data to be stitched from the first point cloud data and the second point cloud data. The angle range included in the stitching data can be set according to actual conditions. For example, the stitching data can be set to include point cloud data within a range of 360°.

[0056] It should be noted that the number of optical paths on the rotating structure is greater than or equal to 2. The first optical path and the second optical path in the embodiment of the present application can be any two optical paths on the rotating structure, for example, two adjacent optical paths on the rotating structure, or two opposite optical paths on the rotating structure, etc.

[0057] The target angle can be calculated by the following method:

[0058] A1. Scan the same marker through the first optical path and the second optical path respectively to obtain an angle of the marker relative to the first optical path and an angle of the marker relative to the second optical path.

[0059] A2. Determine the target angle according to the angle of the marker relative to the first optical path and the angle of the marker relative to the second optical path.

[0060] like Figure 5 As shown in the figure, when the optical path A (i.e., the first optical path) scans the marker, the angle of the marker relative to the optical path A can be determined by the characteristic points on the marker, and the position θ A ,When the optical path B scans the marker, the angle of the marker relative to the optical path B can be determined by the feature point, which is recorded as θ B Under ideal conditions, the angle between light path A and light path B' is 180°, so θ A =θ B , but there is an angle ∠BOB' between the actual optical path B and the ideal optical path B'. According to the geometric relationship, ∠BOB'=θ B -θ A ; The sign corresponds to the direction of rotation. When the rotation direction is counterclockwise, the sign is positive, and when the rotation direction is clockwise, the sign is negative. For example, Figure 5 As shown, the counterclockwise angle formed by the optical path A to the optical path B is positive, and the angle is less than 180°.

[0061] Step S44: when the target angle is greater than the second preset angle, a second stitching strategy is used to stitch the first point cloud data and the second point cloud data to obtain stitched data.

[0062] The second stitching strategy refers to a strategy for selecting and stitching point cloud data to be stitched from the first point cloud data and the second point cloud data, and the second stitching strategy is different from the first stitching strategy.

[0063] In the embodiment of the present application, the first preset angle and the second preset angle may be the same or different.

[0064] Step S45, outputting the above spliced ​​data.

[0065] In the embodiment of the present application, when the target angle is less than the first preset angle, the first stitching strategy is used to stitch the first point cloud data and the second point cloud data, and when the target angle is greater than the second preset angle, the second stitching strategy is used to stitch the first point cloud data and the second point cloud data. Since the relative positions of the first optical path and the second optical path on the rotating structure are different when the target angle is less than the first preset angle and when it is greater than the second preset angle, that is, during the stitching process, the positions of the repeated area and the missing area are also different, therefore, for the two situations, different stitching strategies are used to stitch the point cloud data, which can ensure that there is no duplication or missing in the area corresponding to the stitched data.

[0066] Figure 6 A flow chart of a second data splicing method provided in an embodiment of the present application is shown. In this embodiment, step S63 and step S64 are steps for refining step S43, step S61 and step S62 are respectively the same as step S41 and step S42, step S65 and step S66 are respectively the same as step S44 and step S45, and they are not repeated here.

[0067] In this embodiment, the stitching data includes point cloud data within a range of 360°, and the first preset angle and the second preset angle are both 180° (or the first preset angle and the second preset angle are close to 180°), as described in detail as follows:

[0068] Step S61, acquiring first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar.

[0069] Step S62, acquiring second point cloud data through a second optical path, wherein the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis.

[0070] Step S63, when the target angle is less than 180° and the stitching is used as stitching data of an odd number of circles, point cloud data corresponding to [0°, 180°] is selected from the first point cloud data, and point cloud data corresponding to (180°, 360°] is selected from the second point cloud data, and each selected point cloud data is stitched according to its corresponding angle to obtain stitching data.

[0071] refer to Figure 7 , optical path A represents the first optical path, and optical path B represents the second optical path. The actual positions of optical paths A and B are marked with solid lines, the ideal position of optical path B is B', the ideal position of optical path A is A', and the ideal positions of optical paths A and B are both represented by dotted lines. Figure 7 In the figure, B' is 180° to the actual position of the optical path A, and the actual position of the optical path B is 180° to the dotted line A'.

[0072] When the counterclockwise angle between optical path A and optical path B is less than 180°, assuming that state (a) is the initial state of the spliced ​​data of an odd number of circles, when going from state (a) to state (b), optical path A scans to obtain point cloud data from 0° to 180°, and optical path B scans to obtain point cloud data from (180°-∠BOB') to (360°-∠BOB'); when going from state (b) to state (c), optical path A scans to obtain point cloud data from 180° to (180°+∠AO When the rotating structure is from state (a) to state (b), the optical path A scans the point cloud data from (360°-∠BOB') to 360°, and the optical path B scans the point cloud data from (360°-∠BOB') to 360°; when it passes through state (b) and reaches state (c), the optical path A scans the point cloud data from 0° to 180° and from 180° to (180°+∠AOA'), and the optical path B scans the point cloud data from (180°-∠BOB') to (360°-∠BOB') and from (360°-∠BOB') to 360°. According to the above analysis, when the rotating structure is from state (a) to state (b), the point cloud data from 0° to 180° scanned by the optical path A and the point cloud data from 180° to 360° scanned by the optical path B can be spliced ​​to obtain the complete splicing data of the first circle, and the splicing process of the subsequent odd-numbered circles is similar.

[0073] Among them, the point cloud data from 180° to 360° obtained by scanning optical path B is within the point cloud data range from (180°-∠BOB') to (360°-∠BOB') and (360°-∠BOB') to 360° obtained by scanning optical path B. That is, the above stitching process removes the point cloud data from the area from (180°-∠BOB') to 180° scanned repeatedly by optical path A and optical path B, and compensates for the missing point cloud data from the area from (360°-∠BOB') to 360° scanned by optical path B.

[0074] It should be pointed out that in the embodiment of the present application, the first circle of stitching data refers to the first stitching data including the point cloud data within the range of 360°, in which case, the "first stitching data including the point cloud data within the range of 360°" belongs to the stitching data of the odd circle. Similarly, the second circle of stitching data refers to the second stitching data including the point cloud data within the range of 360°, in which case, the "second stitching data including the point cloud data within the range of 360°" belongs to the stitching data of the even circle, and the same applies to other circles.

[0075] Step S64, when the target angle is less than 180° and the stitching is used as stitching data of an even circle, the point cloud data corresponding to [180°, 360°] is selected from the above-mentioned first point cloud data, and the point cloud data corresponding to [0°, 180°) is selected from the above-mentioned second point cloud data, and the selected point cloud data are stitched according to their corresponding angles to obtain stitching data.

[0076] refer to Figure 7 In the state (d)-(f), it is assumed that state (d) is the initial state of the spliced ​​data of the even-numbered circles, and state (d) is the same state as state (b) in the process of splicing the spliced ​​data of the odd-numbered circles (there is data overlap between the second half circle (i.e., state (d)-(f)) and the first half circle (i.e., state (a)-(c)), but this part of the data can be separated according to the time when optical path A and optical path B scan the same position). Here, for the convenience of description and understanding, the same state is represented by state (b) and state (d) in the two processes respectively. In addition, state (e) is also the same state as state (a) in the first half circle process, for the same reason as mentioned above.

[0077] When going from state (d) to state (e), optical path A scans to obtain point cloud data from 180° to 360°, and optical path B scans to obtain point cloud data from (0°-∠BOB') to (180°-∠BOB'); when going from state (e) to state (f), optical path A scans to obtain point cloud data from 0° to (0°+∠AOA'), and optical path B scans to obtain point cloud data from (180°-∠BOB' to 180°; when going from state (d) through state (e) to state (f), optical path A scans to obtain point cloud data from 0° to (0°+∠AOA'), and optical path B scans to obtain point cloud data from (180°-∠BOB' to 180°. The optical path B scans the point cloud data from (0°-∠BOB') to (180°-∠BOB') and (180°-∠BOB') to 180°. At this time, the point cloud data from 180° to 360° scanned by the optical path A and the point cloud data from 0° to 180° scanned by the optical path B are spliced ​​to obtain the complete second circle of spliced ​​data. The splicing process of the subsequent even-numbered circles of spliced ​​data is similar.

[0078] Among them, the point cloud data from 0° to 180° obtained by scanning optical path B is within the range of the point cloud data from (0°-∠BOB') to (180°-∠BOB') and (180°-∠BOB') to 180° obtained by scanning optical path B. That is, the above stitching process removes the point cloud data from the area from (0°-∠BOB') to 0° scanned repeatedly by optical path A and optical path B, and also compensates for the missing point cloud data from the area from (180°-∠BOB') to 180° scanned by optical path B.

[0079] Step S65, when the target angle is greater than 180°, a second stitching strategy is used to stitch the first point cloud data and the second point cloud data to obtain stitched data.

[0080] Step S66, output the above spliced ​​data.

[0081] In the embodiment of the present application, when the target angle is less than 180°, the splicing data as the odd-numbered circles (or even-numbered circles) are spliced ​​as needed, and the point cloud data corresponding to [0°, 180°] is selected from the first point cloud data (or the point cloud data corresponding to [180°, 360°] is selected from the first point cloud data) and the point cloud data selected from the second point cloud data are spliced. Since the point cloud data obtained by repeatedly scanning the same area by the first optical path and the second optical path is removed during the splicing process, the point cloud data corresponding to the missed scanning area is also compensated, thereby improving the accuracy of the spliced ​​data.

[0082] The above describes how to perform the stitching process of point cloud data when the target angle is less than 180°. The following describes how to perform the stitching process of point cloud data when the target angle is greater than 180°.

[0083] Figure 8 A flowchart of a third data splicing method provided in an embodiment of the present application is shown. In this embodiment, step S84 and step S85 are steps for refining step S44, and step S81, step S82, step S83 and step S86 are respectively the same as step S41, step S42, step S43 and step S45, and are not repeated here.

[0084] In this embodiment, the stitching data includes point cloud data within a range of 360°, and the first preset angle and the second preset angle are both 180° (or the first preset angle and the second preset angle are close to 180°), as described in detail as follows:

[0085] Step S81, acquiring first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar.

[0086] Step S82, acquiring second point cloud data through a second optical path, wherein the second optical path is an optical path on the rotating structure, and the second optical path is coaxial with the first optical path.

[0087] Step S83, when the target angle is less than 180°, adopt the first stitching strategy to stitch the first point cloud data and the second point cloud data to obtain stitching data, wherein the target angle is the angle formed by the first optical path to the second optical path counterclockwise, and the stitching data includes point cloud data within the range of 360°.

[0088] It should be noted that step S83 can also adopt step S63 and step S64 to obtain the spliced ​​data, which will not be repeated here.

[0089] Step S84, when the target angle is greater than 180° and the stitching is performed as stitching data of an odd number of circles, point cloud data corresponding to [0°, 180°] is selected from the second point cloud data, and point cloud data corresponding to (180°, 360°] is selected from the first point cloud data, and each selected point cloud data is stitched according to its corresponding angle to obtain stitching data.

[0090] refer to Fig. 9 , optical path A represents the first optical path, and optical path B represents the second optical path.

[0091] exist Fig. 9 In the figure, state (g)-state (l) is the process of one rotation of optical path A. Different from the case where the angle between optical paths A and B is less than 180°, when the angle is greater than 180°, the intermediate state (h) is used as the initial state of the second half circle (i.e., the state corresponding to the point cloud data of 180° to 360° acquired by optical path A), and the intermediate state (k) is used as the initial state of the first half circle (i.e., the state corresponding to the point cloud data of 0° to 180° acquired by optical path A).

[0092] When the counterclockwise angle between optical path A and optical path B is greater than 180°, state (k)->state (l)->state (g)->state (h)->state (i) represents the state corresponding to the first half circle. When from state (k) to state (l), optical path A scans to obtain point cloud data from (0°-∠AOA') to 0°, and optical path B scans to obtain point cloud data from 180° to (180°+∠BOB'); when from state (l) / (g) (the two states are the same state) through state (h) to state (i), optical path A scans to obtain point cloud data from 0° to 180°, and optical path B scans to obtain point cloud data from (180°+∠BOB') to (360°+∠BOB'). During the above state change process, optical path A scans to obtain point cloud data from (0°-∠AOA') to 0° and 0° to 180°, while optical path B scans to obtain point cloud data from 180° to (180°+∠BOB') and (180°+∠BOB') to (360°+∠BOB'). That is, when the rotating structure changes from state (k)->state (l)->state (g)->state (h)->state (i), the point cloud data from 0° to 180° obtained by optical path A scanning and the point cloud data from 180° to 360° obtained by optical path B scanning can be spliced ​​to obtain the complete first circle of spliced ​​data, and the splicing process of the subsequent odd-numbered circles of spliced ​​data is similar.

[0093] Among them, the point cloud data from 0° to 180° obtained by scanning optical path A is within the point cloud data range from (0°-∠AOA') to 0° and 0° to 180° obtained by scanning optical path A, and the point cloud data from 180° to 360° obtained by scanning optical path B is within the point cloud data range from 180° to (180°+∠BOB') and (180°+∠BOB') to (360°+∠BOB') scanned by optical path B. That is, the above stitching process removes the point cloud data obtained by repeated scanning of the area from 0° to (0°+∠BOB') by optical path A and optical path B, and compensates for the missing point cloud data from the area from 180° to (180°+∠BOB') that was missed by optical path B.

[0094] Step S85, when the target angle is greater than 180° and the stitching is performed as stitching data of an even circle, the point cloud data corresponding to [180°, 360°] is selected from the above-mentioned second point cloud data, and the point cloud data corresponding to [0°, 180°) is selected from the above-mentioned first point cloud data, and the selected point cloud data are stitched according to their corresponding angles to obtain stitching data.

[0095] The second half circle when the angle between optical path A and optical path B is greater than 180°: such as state (h) -> state (i) -> state (j) -> state (k) -> state (l), when from state (h) to state (i), optical path A scans to obtain point cloud data from 180°-∠AOA' to 180°, and optical path B scans to obtain point cloud data from 0° to (0°+∠BOB'); when from state (I) / (j) (the two states are the same state) through state (k) to state (l), optical path A scans to obtain point cloud data from 180° to 360°, and optical path B scans to obtain point cloud data from (0°+∠BOB') to (180°+∠BOB'). During the above state change process, optical path A scans to obtain point cloud data from (180°-∠AOA') to 180° and 180° to 360°, while optical path B scans to obtain point cloud data from 0° to (0°+∠BOB') and (0°+∠BOB') to (180°+∠BOB'). That is, when the rotating structure changes from state (h)->state (i)->state (j)->state (k)->state (l), the point cloud data from 180° to 360° obtained by optical path A scanning and the point cloud data from 0° to 180° obtained by optical path B scanning can be spliced ​​to obtain the complete second circle of spliced ​​data, and the splicing process of the subsequent even-numbered circles of spliced ​​data is similar.

[0096] Among them, the point cloud data from 0° to 180° obtained by scanning optical path B is within the point cloud data range from 0° to (0°+∠BOB') and (0°+∠BOB') to (180°+∠BOB') obtained by scanning optical path B, and the point cloud data from 180° to 360° obtained by scanning optical path A is within the point cloud data range from (180°-∠AOA') to 180° and 180° to 360° obtained by scanning optical path A. That is, the above stitching process removes the point cloud data obtained from the area from 180° to (180°+∠BOB') scanned repeatedly by optical paths A and B, and compensates for the missing point cloud data from the area from 0° to (0°+∠BOB') scanned by optical path B.

[0097] Step S86, output the above spliced ​​data.

[0098] In the embodiment of the present application, when the target angle is greater than 180°, the splicing data as odd circles (or even circles) is spliced ​​as needed, and the point cloud data corresponding to (180°, 360°] is selected from the first point cloud data (or the point cloud data corresponding to [0°, 180°) is selected from the first point cloud data) and the point cloud data selected from the second point cloud data are spliced. Since the point cloud data obtained by repeatedly scanning the same area by the first optical path and the second optical path is removed during the splicing process, the point cloud data corresponding to the missed scanning area is also compensated, thereby improving the accuracy of the obtained spliced ​​data.

[0099] In some scenarios, considering the data stitching process, ∠AOA' and ∠BOB' have the following relationship: the angle between optical path A and virtual optical path B' is 180°, and the angle between optical path B and virtual optical path A' is also 180°. According to the geometric relationship, ∠AOA'=∠BOB', so the time for optical path A and optical path B to scan these two areas is also equal.

[0100] The two-dimensional plane where the optical path A and the optical path B are located specifies a zero point direction, such as Figure 7 and Fig. 9 The 0° / 360° direction is shown. The optical path A rotates counterclockwise from the zero point to represent one rotation of the rotating structure. Assuming that the time taken for the rotating structure to rotate one circle is T, the time taken for the optical path A and the optical path B to scan ∠AOA' and ∠BOB' is T AOA’ and T BOB’ , and because ∠AOA'=∠BOB', and optical path A and optical path B are coaxial, so T AOA’ =T BOB’ .

[0101] The following describes the output methods corresponding to the two different splicing methods.

[0102] In some embodiments, if the angle between the optical path A and the optical path B is less than 180°, the above step S66 includes:

[0103] B1. Rotate the above rotating structure by T / 2+T AOA' After that, the stitching data of the first circle obtained by stitching is output, wherein the T is the time required for the rotating structure to rotate one circle, the AOA' is the angle between the first optical path and the ideal optical path of the first optical path, the angle between the ideal optical path of the first optical path and the second optical path is 180°, and the T AOA' It is the time required for the rotating structure to rotate an area equal to the area corresponding to the AOA'.

[0104] B2. Output the splicing data of each circle obtained by subsequent splicing at every interval T / 2.

[0105] According to the above data stitching process, from state (a) through state (b) to state (c), the point cloud data scanned by optical path A and optical path B can be stitched into a complete circle of stitching data. From starting with optical path A pointing to the zero point to state (c), it takes T / 2+T AOA' , and then output a splicing data; from state (d) through state (e) to state (f), the data scanned by optical path A and optical path B can be spliced ​​into another complete splicing data. At this time, optical path A points to zero point and goes to state (f), which takes time T+T AOA' , at this time, the splicing data is output once, and the time interval between the two time nodes is T / 2, which is half a period of the rotating structure. Since the time of outputting the splicing data for the first time and the time interval of the splicing data output subsequently are determined, it is beneficial to improve the accuracy of the time of outputting the splicing data.

[0106] In some embodiments, if the angle between the optical path A and the optical path B is greater than 180°, the above step S86 includes:

[0107] Step C1, outputting the stitching data of the first circle obtained by stitching after the rotating structure rotates T, wherein T is the time required for the rotating structure to rotate one circle.

[0108] Step C2: output the splicing data of each circle obtained by subsequent splicing at every interval T / 2.

[0109] According to the above data stitching process, from state (h) through state (i), state (j), state (k) to state (l), the point cloud data scanned by optical path A and optical path B can be stitched into a complete circle of data. From the beginning of optical path A pointing to the zero point to state (l), it takes time T, and the stitching data is output once at this time; from state (k) through state (l), state (g), state (h) to state (i), the point cloud data scanned by optical path A and optical path B can be stitched into another complete circle of data. From the beginning of optical path A pointing to the zero point to state (i), it takes time T+T / 2, and the stitching data is output again at this time. The time interval between the two time nodes of outputting stitching data is T / 2, which is half a cycle of the rotating structure. For the case where the angle between optical path A and optical path B is greater than 180°, since optical path B must rotate after optical path A rotates half a circle before the second half circle can scan the area that needs to be compensated, it is necessary to discard half a circle of data at the beginning in this case, and then output the stitching data from the second half circle.

[0110] According to the description of the data output process above, the rotating structure can output two complete circles of point cloud data in one rotation cycle, and the time interval is T / 2. However, from the time of the point cloud data, it is found that the point cloud data obtained by the optical path B scanning will lead or lag T in time. AOA' and T BOB' Therefore, the point cloud data of the complete circle actually output and the partial point cloud data scanned by optical path B need to be compensated according to the movement speed of the rotating structure in space. When the speed and time are known, the corresponding distance information can be determined based on the speed and time, for example, according to S=v*t, where v represents speed, t represents time, and "*" represents multiplication.

[0111] In some embodiments, when the target signal (such as the intensity value of the target) is collected, the point cloud data includes the point cloud data corresponding to the target, and after the above step S45 (or step S66, or step S86), it also includes:

[0112] The center position of the target is determined based on the splicing data.

[0113] In this embodiment, when the light path scans to the center of the target, the corresponding intensity value of the target is the largest, and therefore, the center of the target can be accurately determined according to the value in the spliced ​​data.

[0114] In some embodiments, determining the center position of the target according to the stitching data comprises:

[0115] If in the stitched data, the point cloud data acquired by the first optical path includes the point with the largest intensity value of the target, and the point with the largest intensity value is not the point at the stitching point of the stitched data, then the center position of the target is determined based on the point cloud data acquired by the first optical path.

[0116] refer to Fig.10 and Fig.11 ,in, Fig.10 The figure shows the schematic diagram of the target signals collected by the optical path A and the optical path B when the target is located near the center of the intersection of the optical path A and the optical path B. Fig.11 The figure shows the target signals collected by optical path A and optical path B when the target is located at a remote position at the intersection of optical path A and optical path B. Since there are always differences between optical paths A and B during the production or assembly process, the target signals detected by optical path A and optical path B will be different even if they are at the same position. Fig.10 and Fig.11 As shown in the figure, there will be a drop at the intersection. This drop is an important unfavorable factor affecting target recognition. For example, when the drop point is near the center of the target, it will be impossible to calculate the center position of the target based on symmetry; and when the target is located at a remote position from the center of the intersection of optical paths A and B, the target signal is as follows Fig.11 As shown in FIG. 1 , the target signal is covered by the target signal scanned by one of the optical paths A and B. Therefore, the target center position can be calculated using the target signal covering the target center. That is, if Fig.10 In the case shown in the figure, the target signal can only be discarded. Fig.11 In the case shown, the center position of the target can be calculated using the target signal covering the center of the target.

[0117] In an embodiment of the present application, when the spliced ​​data is the spliced ​​data corresponding to the target signal, since the spliced ​​data retains the target signal of optical path A and optical path B at the splicing point to the greatest extent, that is, the integrity of the target signal is guaranteed to the greatest extent, therefore, when the center position of the target is identified based on the spliced ​​data, the accuracy of the identification result can be effectively guaranteed.

[0118] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0119] Embodiment 2:

[0120] Corresponding to the splicing method described in the first embodiment above, Fig.12 A structural block diagram of a splicing device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0121] Reference Fig.12 , the splicing device 12 comprises:

[0122] The first point cloud data acquisition module 121 is used to acquire first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar.

[0123] The second point cloud data acquisition module 122 is used to acquire second point cloud data through a second optical path, where the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis.

[0124] The first stitching module 123 is used to stitch the first point cloud data and the second point cloud data using a first stitching strategy to obtain stitched data when the target angle is less than a first preset angle, wherein the target angle is the angle formed by the first optical path to the second optical path along the rotation direction.

[0125] The target angle can be calculated by the following method:

[0126] A1. Scan the same marker through the first optical path and the second optical path respectively to obtain an angle of the marker relative to the first optical path and an angle of the marker relative to the second optical path.

[0127] A2. Determine the target angle according to the angle of the marker relative to the first optical path and the angle of the marker relative to the second optical path.

[0128] The second stitching module 124 is used to stitch the first point cloud data and the second point cloud data using a second stitching strategy to obtain stitched data when the target angle is greater than a second preset angle.

[0129] The splicing data output module 125 is used to output the splicing data.

[0130] In the embodiment of the present application, when the target angle is less than the first preset angle, the first stitching strategy is used to stitch the first point cloud data and the second point cloud data, and when the target angle is greater than the second preset angle, the second stitching strategy is used to stitch the first point cloud data and the second point cloud data. Since the relative positions of the first optical path and the second optical path on the rotating structure are different when the target angle is less than the first preset angle and when it is greater than the second preset angle, that is, during the stitching process, the positions of the repeated area and the missing area are also different, therefore, for the two situations, different stitching strategies are used to stitch the point cloud data, which can ensure that there is no duplication or missing in the area corresponding to the stitched data.

[0131] In some embodiments, the stitching data includes point cloud data within a range of 360°, and the first preset angle and the second preset angle are 180° (or the first preset angle and the second preset angle are close to 180°). When the first stitching module 123 stitches the first point cloud data and the second point cloud data using the first stitching strategy to obtain the stitching data, it is specifically used to:

[0132] If the spliced ​​data is an odd number of circles, then the point cloud data corresponding to [0°, 180°] is selected from the first point cloud data, and the point cloud data corresponding to (180°, 360°] is selected from the second point cloud data, and the selected point cloud data are spliced ​​according to their corresponding angles to obtain spliced ​​data;

[0133] If the splicing data is an even number of circles, the point cloud data corresponding to [180°, 360°] is selected from the above-mentioned first point cloud data, and the point cloud data corresponding to [0°, 180°) is selected from the above-mentioned second point cloud data. The selected point cloud data are spliced ​​according to their corresponding angles to obtain spliced ​​data.

[0134] In some embodiments, the splicing data output module 125 is specifically used to:

[0135] In the above rotating structure, rotate T / 2+T AOA' After that, the stitching data of the first circle obtained by stitching is output, wherein the T is the time required for the rotating structure to rotate one circle, the AOA' is the angle between the first optical path and the ideal optical path of the first optical path, the angle between the ideal optical path of the first optical path and the second optical path is 180°, and the T AOA' is the time required for the rotating structure to rotate to an area equal to the area corresponding to the AOA';

[0136] The splicing data of each circle obtained by subsequent splicing are output at every interval T / 2.

[0137] In some embodiments, the stitching data includes point cloud data within a range of 360°, and the first preset angle and the second preset angle are both 180° (or the first preset angle and the second preset angle are close to 180°). When the second stitching module 124 stitches the first point cloud data and the second point cloud data using the second stitching strategy to obtain the stitching data, it is specifically used to:

[0138] If the splicing is used as the splicing data of an odd number of circles, the point cloud data corresponding to [0°, 180°] is selected from the second point cloud data, and the point cloud data corresponding to (180°, 360°] is selected from the first point cloud data, and the selected point cloud data are spliced ​​according to their corresponding angles to obtain the splicing data;

[0139] If the stitching is used as stitching data of an even circle, the point cloud data corresponding to [180°, 360°] is selected from the above-mentioned second point cloud data, and the point cloud data corresponding to [0°, 180°) is selected from the above-mentioned first point cloud data, and the selected point cloud data are stitched according to their corresponding angles to obtain stitching data.

[0140] In some embodiments, the second splicing module 124:

[0141] Outputting the splicing data of the first circle obtained by splicing after the rotating structure rotates T, wherein T is the time required for the rotating structure to rotate one circle;

[0142] The splicing data of each circle obtained by subsequent splicing are output at every interval T / 2.

[0143] In some embodiments, the point cloud data includes point cloud data corresponding to the target, and the stitching device 12 further includes:

[0144] The center position determination module is used to determine the center position of the target according to the splicing data.

[0145] In some embodiments, the central location determination module is specifically used to:

[0146] If in the stitched data, the point cloud data acquired by the first optical path includes the point with the largest intensity value of the target, and the point with the largest intensity value is not the point at the stitching point of the stitched data, then the center position of the target is determined based on the point cloud data acquired by the first optical path.

[0147] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0148] Embodiment three:

[0149] Fig.13 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Fig.13 As shown, the electronic device 13 of this embodiment includes: at least one processor 130 ( Fig.13 Only one processor is shown in the figure), a memory 131, and a computer program 132 stored in the above-mentioned memory 131 and executable on the above-mentioned at least one processor 130, and when the above-mentioned processor 130 executes the above-mentioned computer program 132, the steps in any of the above-mentioned method embodiments are implemented.

[0150] The electronic device 13 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device may include, but is not limited to, a processor 130 and a memory 131. Those skilled in the art will appreciate that Fig.13 It is only an example of the electronic device 13 and does not constitute a limitation on the electronic device 13. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0151] The processor 130 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0152] In some embodiments, the memory 131 may be an internal storage unit of the electronic device 13, such as a hard disk or memory of the electronic device 13. In other embodiments, the memory 131 may also be an external storage device of the electronic device 13, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 13. Further, the memory 131 may also include both an internal storage unit and an external storage device of the electronic device 13. The memory 131 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 131 may also be used to temporarily store data that has been output or is to be output.

[0153] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0154] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above method embodiments when executing the computer program.

[0155] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0156] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0157] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0158] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0159] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0160] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0161] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0162] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A data splicing method, It is characterized in that include: Acquire first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar; Acquire second point cloud data through a second optical path, where the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis; When the target angle is less than 180°, the first point cloud data and the second point cloud data are spliced ​​using the first stitching strategy to obtain stitching data: if the stitching data is an odd-numbered circle, the point cloud data corresponding to (0°, 180°] is selected from the first point cloud data, and the point cloud data corresponding to (180°, 360°] is selected from the second point cloud data; if the stitching data is an even-numbered circle, the point cloud data corresponding to [180°, 360°) is selected from the first point cloud data, and the point cloud data corresponding to [0°, 180°) is selected from the second point cloud data; the selected point cloud data are stitched according to their corresponding angles to obtain the stitching data; wherein the target angle is the angle formed by the first optical path to the second optical path along the rotation direction, and the stitching data includes point cloud data within a range of 360°; When the target angle is greater than 180°, the second stitching strategy is used to stitch the first point cloud data and the second point cloud data to obtain stitching data: if the stitching is used as stitching data of an odd number of circles, the point cloud data corresponding to (0°, 180°] is selected from the second point cloud data, and the point cloud data corresponding to (180°, 360°] is selected from the first point cloud data; if the stitching is used as stitching data of an even number of circles, the point cloud data corresponding to [180°, 360°) is selected from the second point cloud data, and the point cloud data corresponding to [0°, 180°) is selected from the first point cloud data; the selected point cloud data are stitched according to their corresponding angles to obtain stitching data; The spliced ​​data is output.

2. The data splicing method according to claim 1, It is characterized in that When the first splicing strategy is used for splicing, the outputting of the spliced ​​data includes: In the rotating structure, T2+T AOA' After that, the stitching data of the first circle obtained by stitching is output, wherein T is the time required for the rotating structure to rotate one circle, AOA' is the angle between the first light path and the ideal light path of the first light path, the angle between the ideal light path of the first light path and the second light path is 180°, and T AOA' is the time required for the rotating structure to rotate to an area equal to the area corresponding to the AOA'; At each interval T2, the splicing data of each circle obtained by subsequent splicing are output.

3. The data splicing method according to claim 1, It is characterized in that When the second splicing strategy is used for splicing, the outputting of the spliced ​​data includes: Outputting the stitching data of the first circle obtained by stitching after the rotating structure rotates T, wherein T is the time required for the rotating structure to rotate one circle; At each interval T2, the splicing data of each circle obtained by subsequent splicing are output.

4. The data splicing method according to any one of claims 1 to 3, It is characterized in that The point cloud data includes point cloud data corresponding to the target, and after outputting the spliced ​​data, further includes: The center position of the target is determined based on the stitching data.

5. The data splicing method according to claim 4, It is characterized in that Determining the center position of the target according to the splicing data includes: If in the stitched data, the point cloud data acquired by the first optical path includes the point with the largest intensity value of the target, and the point with the largest intensity value is not the point at the stitching point of the stitched data, then the center position of the target is determined according to the point cloud data acquired by the first optical path.

6. A splicing device, It is characterized in that include: A first point cloud data acquisition module, used to acquire first point cloud data through a first optical path, where the first optical path is an optical path on a rotating structure of a rotating radar; A second point cloud data acquisition module, used for acquiring second point cloud data through a second optical path, wherein the second optical path is an optical path on the rotating structure, and the second optical path and the first optical path have the same rotation axis; A first splicing module is used for splicing the first point cloud data and the second point cloud data using a first splicing strategy to obtain spliced ​​data when the target angle is less than 180°: if the spliced ​​data is an odd-numbered circle, the point cloud data corresponding to [0°, 180°] is selected from the first point cloud data, and the point cloud data corresponding to (180°, 360°) is selected from the second point cloud data; if the spliced ​​data is an even-numbered circle, the point cloud data corresponding to [180°, 360°] is selected from the first point cloud data, and the point cloud number corresponding to (0°, 180°) is selected from the second point cloud data; each selected point cloud data is spliced ​​according to its corresponding angle to obtain the spliced ​​data; wherein the target angle is the angle formed by the first optical path to the second optical path along the rotation direction, and the spliced ​​data includes point cloud data within a range of 360°; A second splicing module is used for, when the target angle is greater than 180°, using a second splicing strategy to splice the first point cloud data and the second point cloud data to obtain spliced ​​data: if the splicing is used as the splicing data of an odd number of circles, the point cloud data corresponding to [0°, 180°] is selected from the second point cloud data, and the point cloud data corresponding to (180°, 360°) is selected from the first point cloud data; if the splicing is used as the splicing data of an even number of circles, the point cloud data corresponding to [180°, 360°] is selected from the second point cloud data, and the point cloud data corresponding to (0°, 180°) is selected from the first point cloud data; each selected point cloud data is spliced ​​according to its corresponding angle to obtain spliced ​​data; The splicing data output module is used to output the splicing data.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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