A laser radar multi-echo discrimination method and device

Abstract

The present invention relates to a laser radar multi-echo discrimination method and device, comprising: obtaining T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the moment; according to the laser radar echo pulse and T i The laser radar emits a pulse at the moment to solve the position coordinate P of the target point corresponding to the echo pulse; the camera imaging model is used to calculate the projection of the target point to I according to the position coordinate P of the target point i Image coordinates M on i and its projection to I i+1 Image coordinates M on i+1 ; Calculate image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T i The laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i‑1 The present invention can effectively solve the problem of ranging ambiguity caused by the inability of the return signal of the laser radar pulse to correspond to the transmitted pulse signal during the laser radar ranging process.

Description

Technical Field

[0001] The present invention relates to the field of radar ranging technology, and in particular to a laser radar multi-echo discrimination method and device. Background Art

[0002] LiDAR systems perform ranging measurements based on the time-of-flight principle of laser pulses. During ranging, each received echo pulse must be correlated with the laser pulse it induced. This prerequisite results in a range-finding (RG) limitation for LiDAR ranging, requiring the pulse emission and reception time to be less than the pulse repetition rate (PRR) to accurately determine the distance from the pulse emission location to the target. If the round-trip time of the pulse exceeds the pulse emission repetition rate, meaning the returned signal does not correspond to the previous pulse signal, ranging ambiguity will occur, limiting the usability of high-rate rangefinders and LiDARs.

[0003] In actual production, ranging ambiguity is typically avoided by controlling the drone's flight altitude and adjusting the laser pulse frequency. If ranging ambiguity occurs in the point cloud, points significantly above or below the ground are typically treated as noise and removed. This approach results in information loss in the laser point cloud data, significantly reducing its utilization and limiting the sampling capacity of airborne LiDAR. Furthermore, to achieve the same high-density point cloud and a wider scanning swath, the number of flight strips and the frequency of aircraft flights must be increased.

[0004] Currently, there are three main ways to avoid the ambiguity problem of lidar ranging: hardware solutions, software solutions, and a combination of hardware and software. The hardware-based solutions mainly include spatial multiplexing and wavelength multiplexing. Spatial multiplexing is mainly achieved by superimposing at least two similar laser transmitting and receiving devices onto a complete laser scanning system platform. This solution requires operating two laser scanning devices at the same time while maintaining the maximum clear distance of each single device, and requires that the fields of view (FOV) of the two instruments have a large enough spatial separation to avoid mutual interference. Wavelength multiplexing is mainly about making two or more laser scanners operate at different wavelengths to avoid problems caused by interference. Due to the technical complexity required to develop a single instrument capable of emitting and receiving laser pulses at multiple wavelengths, and the lack of flexibility in selecting different wavelengths during operation, the currently used method is to select two or more independent instruments with specific wavelengths.

[0005] Hardware-based solutions cannot completely solve the problem of ambiguous measurements, but software-based methods can overcome this problem. Software-based methods mainly utilize the assumption of surface continuity of the measured object and variable period measurement technology. This method finds adjacent laser points through neighborhood division, then calculates the statistical weights of adjacent points at different pulse transmission and reception cycles to obtain the actual pulse transmission and reception interval, and then corrects the laser points. In order to correctly associate all consecutive measurement values, it is necessary to select a correct initial transmission and reception cycle area. Software algorithms often do not disclose the specific details of resolving ranging ambiguity due to commercial barriers, or can only be used for data from a single manufacturer, resulting in poor versatility of the solution. Summary of the Invention

[0006] The present invention provides a laser radar multi-echo discrimination method and device to solve the ranging ambiguity problem caused by the mismatch between the return signal of the laser radar pulse and the transmitted pulse signal during the laser radar ranging process.

[0007] The technical solution of the present invention to solve the above technical problems is as follows:

[0008] In a first aspect, the present invention provides a laser radar multi-echo discrimination method, comprising:

[0009] Get T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the time; where i is a positive integer; the laser radar first transmits a pulse at time T1; the period is the pulse transmission period of the laser radar;

[0010] According to the laser radar echo pulse and T i The laser radar transmits a pulse at the moment to calculate the position coordinate P of the target point corresponding to the echo pulse;

[0011] Using the camera imaging model, the projection of the target point to I is calculated based on its position coordinate P i Image coordinates M on i and its projection to I i+1 Image coordinates M on i+1 ;

[0012] Calculate the image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T i The laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i-1 The laser radar transmit pulse at the moment matches.

[0013] Furthermore, when the number of cycles of the laser radar echo pulse is greater than one cycle, the matched laser radar echo pulse is deleted from the laser radar echo pulse obtained in the next iterative process.

[0014] Furthermore, the upper limit of the number of cycles for obtaining the laser radar echo pulse is determined according to the hardware parameters of the laser radar system.

[0015] Furthermore, the calculated image coordinates M i and image coordinates M i+1 Similarity, including:

[0016] In image I i Get the image coordinates M i Neighborhood pixels in image I i+1 Get the image coordinates M i+1 Neighborhood pixels of

[0017] According to the image coordinates M i The neighborhood pixels calculate their corresponding local texture features F i ; According to the image coordinate M i+1 The neighborhood pixels calculate their corresponding local texture features F i+1 ;

[0018] Using correlation coefficient to measure local texture features F i and F i+1 similarity.

[0019] In a second aspect, the present invention provides a laser radar multi-echo discrimination device, comprising:

[0020] Data acquisition module, obtain T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the time; where i is a positive integer; the laser radar first transmits a pulse at time T1; the period is the pulse transmission period of the laser radar;

[0021] The coordinate calculation module is based on the laser radar echo pulse and T i The laser radar transmits a pulse at the moment to calculate the position coordinate P of the target point corresponding to the echo pulse;

[0022] The projection calculation module uses the camera imaging model to calculate the projection of the target point to I according to its position coordinates P. i Image coordinates M on i and its projection to I i+1 Image coordinates M on i+1 ;

[0023] Matching module, calculates image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T i The laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i-1 The laser radar transmit pulse at the moment matches.

[0024] Furthermore, when the number of cycles of the laser radar echo pulse is greater than one cycle, the matched laser radar echo pulse is deleted from the laser radar echo pulse obtained in the next iterative process.

[0025] Furthermore, the upper limit of the number of cycles for obtaining the laser radar echo pulse is determined according to the hardware parameters of the laser radar system.

[0026] Furthermore, the matching module includes a similarity calculation module, which is specifically used to:

[0027] In image I i Get the image coordinates M i Neighborhood pixels in image I i+1 Get the image coordinates M i+1 Neighborhood pixels of

[0028] According to the image coordinates M i The neighborhood pixels calculate their corresponding local texture features F i ; According to the image coordinate M i+1 The neighborhood pixels calculate their corresponding local texture features F i+1 ;

[0029] Using correlation coefficient to measure local texture features F i and F i+1 similarity.

[0030] In a third aspect, the present invention provides an electronic device, comprising:

[0031] Memory for storing computer software programs;

[0032] The processor is used to read and execute the computer software program, thereby implementing the laser radar multi-echo discrimination method described in the first aspect of the present invention.

[0033] In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, in which a computer software program is stored for implementing a laser radar multi-echo discrimination method as described in the first aspect of the present invention.

[0034] The beneficial effect of the present invention is that: with the help of the camera module, the present invention can effectively solve the correspondence between the laser radar pulse return signal and the transmission signal, and solve the ranging ambiguity problem.

[0035] This method only requires a camera to be installed on the LiDAR system to solve the radar pulse ranging ambiguity problem. It is highly economical and has a wider range of applications. The camera system does not need to be calibrated with the LiDAR system, only the camera itself needs to be calibrated. The system is simple and highly stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is an example of a waveform diagram of a transmitted pulse and a received echo without ambiguity;

[0037] Figure 2 This is an example of an ambiguous waveform of a transmitted pulse and a received echo;

[0038] Figure 3 A schematic flow chart of a laser radar multi-echo discrimination method provided in an embodiment of the present invention;

[0039] Figure 4 Schematic diagram of pulse transmission, echo transmission and reception timing in an embodiment of the present invention;

[0040] Figure 5 Schematic diagram of the laser pulse disambiguation principle in an embodiment of the present invention;

[0041] Figure 6 A schematic structural diagram of a laser radar multi-echo discrimination device provided by an embodiment of the present invention;

[0042] Figure 7 A schematic diagram of an electronic device according to an embodiment of the present invention;

[0043] Figure 8 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0045] By periodically emitting lasers and receiving echoes, the laser radar can obtain a series of measurement point distances based on the light flight parameters, and the position of the reflection point can be calculated by combining the position and attitude of the laser itself. Normally, the sending and receiving of lasers are carried out in sequence, that is, send-receive-send-receive. There is always only one laser pulse in the air, and the receiving and sending are matched one to one. If the object being measured is far away, multiple pulses may appear in the air, and the order in which the multiple pulses arrive at the receiver is no longer consistent with the order in which the pulses are emitted. The receiver cannot correctly calculate the flight time of the pulses, and thus cannot correctly derive the distance to the object. This is the MTA (Multi-Time-Around) problem. The number of transmit and receive cycles that the reflected signal may span is usually called the MTA interval. For example Figure 1 Indicates that the transmitted pulse and the received echo are matched one to one, and there is no ranging ambiguity or range interval of distance ambiguity. Figure 2 This indicates that the transmitted pulse and the received echo no longer correspond, and there is an ambiguous range in the ranging.

[0046] An embodiment of the present invention provides a method for distinguishing multiple LiDAR echoes. A camera synchronized with the LiDAR system captures image information at the instant of the LiDAR echo. Since the correspondence between the LiDAR echo and the laser pulse emission time is unknown, but it must be within a specified period, each echo is assumed to correspond to a transmitted pulse, and an assumed ranging value for each echo is recorded. The image information synchronously captured at the time of the transmitted pulse must contain image information at the assumed ranging value. When the vehicle moves a certain distance, the camera captures a similar image at another location. By comparing the similarities between two points in the two images, the correspondence between the laser echo and the transmitted pulse is determined.

[0047] Specifically, such as Figure 3 As shown, an embodiment of the present invention provides a laser radar multi-echo discrimination method, comprising the following steps:

[0048] Get T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the time; where i is a positive integer; the laser radar first transmits a pulse at time T1; the period is the pulse transmission period of the laser radar;

[0049] According to the laser radar echo pulse and T i The laser radar transmits a pulse at the moment to calculate the position coordinate P of the target point corresponding to the echo pulse;

[0050] Using the camera imaging model, the projection of the target point to I is calculated based on its position coordinate P i Image coordinates M oni and its projection to I i+1 Image coordinates M on i+1 ;

[0051] Calculate the image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T i The laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i-1 The laser radar transmit pulse at the moment matches.

[0052] Modern lidar systems also have GPS, IMU, etc. to obtain POS data. If the position and orientation information contained in the POS (Position and Orientation System) data of each laser pulse can be used to reconstruct the three-dimensional spatial scene during laser transmission, a mathematical model of the emitted laser pulse can be established at a specified direction and speed. Combined with the camera imaging model, the object at the laser echo point can be projected into the image. The similarity between the echo images in the images taken by the camera at different positions can be calculated to determine the correspondence between the echo pulse and the emitted pulse, thereby solving the ranging ambiguity problem.

[0053] Assume that the laser radar emits a laser pulse at time T1, triggering the camera to take a photo at the same time, and the acquired image is I1. The laser pulse generates three echoes when encountering objects at different levels on the ground. The echoes are received at the times t 11 , t 12 , t 13 After the laser radar pulse interval ΔT, the laser radar emits a laser pulse at time T2, and the camera obtains the image I2. The laser pulse also generates three echoes after encountering objects at different levels on the ground. The echo receiving times are t 21 , t 22 , t 23 After the pulse interval ΔT, the laser radar emits pulse T3 and acquires image I3. Figure 4 shown.

[0054] The LiDAR system can calculate the distance from the pulse reflection point to the radar through the time difference between the laser pulse echo moment and the laser pulse emission moment. Figure 4 As shown in the figure, there are three radar echoes in the radar pulse period from time T2 to time T3, among which echo t 13 The corresponding radar transmit pulse time is T1. First, assume that the echo t received in the T2 period 13 , t 21 , t 22 They all correspond to the transmitted pulse T2, and the radar system can calculate the echo t13 , t 21 , t 22 The corresponding reflection object position P 13 (x 13 ,y 13 ,z 13 ), P 21 (x 21 ,y 21 ,z 21 ), P 22 (x 22 ,y 22 ,z 22 )like Figure 5 shown.

[0055] According to the camera imaging model:

[0056] s·M=A[R|t]P

[0057] Where s is a proportional constant, P represents the coordinates of the spatial point, M represents the coordinates of the pixel point projected on the image plane, A represents the camera intrinsic parameter matrix, and [R|t] represents the camera rotation and translation matrix.

[0058] Laser pulse return position coordinate P 13 (x 13 ,y 13 ,z 13 ), P 21 (x 21 ,y 21 ,z 21 ), P 22 (x 22 ,y 22 ,z 22 ) can be projected to image I2 image coordinates

[0059] When the camera moves with the vehicle to the next moment, such as T3, the position coordinate P calculated based on the echo at time T2 13 (x 13 ,y 13 ,z 13 ), P 21 (x 21 ,y 21 ,z 21 ), P 22 (x 22 ,y 22 ,z 22 ) can be converted to image I3 image coordinates through the camera imaging model

[0060] According to the image coordinates on image I2 and image I3 coordinates The local texture LBP features are calculated by the neighborhood pixels of the local texture LBP features, and the Pearson correlation coefficient is used to measure the two corresponding image coordinates (such as and and and ) neighborhood LBP feature similarity. A high degree of similarity indicates that the laser echo analysis at position P is correct. It should be understood that in addition to using LBP features and the Pearson correlation coefficient to measure the similarity of two image coordinates in this solution, other common image similarity determination methods can also be used, such as cosine distance, histogram, Euclidean distance, etc.

[0061] If the similarity is low, such as coordinate P 13 (x 13 ,y 13 ,z 13 ) on the I2 and I3 images. and Because P 13 (x 13 ,y 13 ,z 13 ) corresponds to the actual matching laser pulse T1. The position resolved within the laser pulse period corresponding to T2 is a virtual position. During projection onto the camera image plane, the actual image is the object point corresponding to this virtual point. For all resolved positions of ambiguous laser pulse echoes, the image features differ significantly between points projected onto different image planes at different times. This ensures that the laser pulse echo corresponds to the emitted laser pulse, ensuring accurate ranging resolution for each echo.

[0062] like Figure 6 As shown, an embodiment of the present invention further provides a laser radar multi-echo discrimination device, comprising:

[0063] Data acquisition module, obtain T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the time; where i is a positive integer; the laser radar first transmits a pulse at time T1; the period is the pulse transmission period of the laser radar;

[0064] The coordinate calculation module is based on the laser radar echo pulse and T i The laser radar transmits a pulse at the moment to calculate the position coordinate P of the target point corresponding to the echo pulse;

[0065] The projection calculation module uses the camera imaging model to calculate the projection of the target point to I according to its position coordinates P. i Image coordinates M oni and its projection to I i+1 Image coordinates M on i+1 ;

[0066] Matching module, calculates image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T i The laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i-1 The laser radar transmit pulse at the moment matches.

[0067] The matching module includes a similarity calculation module, which is specifically used to:

[0068] In image I i Get the image coordinates M i Neighborhood pixels in image I i+1 Get the image coordinates M i+1 Neighborhood pixels of

[0069] According to the image coordinates M i The neighborhood pixels of the corresponding local texture LBP feature F i ; According to the image coordinate M i+1 The neighborhood pixels of the corresponding local texture LBP feature F i+1 ;

[0070] The Pearson correlation coefficient is used to measure the local texture LBP feature F i and F i+1 similarity.

[0071] See also Figure 7 , Figure 7 Schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. Figure 7 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented:

[0072] Get T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the time; where i is a positive integer; the laser radar first transmits a pulse at time T1; the period is the pulse transmission period of the laser radar;

[0073] According to the laser radar echo pulse and T i The laser radar transmits a pulse at the moment to calculate the position coordinate P of the target point corresponding to the echo pulse;

[0074] Using the camera imaging model, the projection of the target point to I is calculated based on its position coordinate P i Image coordinates M on i and its projection to I i+1 Image coordinates M on i+1 ;

[0075] Calculate the image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T i The laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i-1 The laser radar transmit pulse at the moment matches.

[0076] See also Figure 8 , Figure 8 Schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. Figure 8 As shown, this embodiment provides a computer-readable storage medium 600 on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented:

[0077] Get T i and T i+1 Image captured by the camera at the moment I i and I i+1 , and obtain T i The laser radar echo pulse received within at least one cycle after the time; where i is a positive integer; the laser radar first transmits a pulse at time T1; the period is the pulse transmission period of the laser radar;

[0078] According to the laser radar echo pulse and T i The laser radar transmits a pulse at the moment to calculate the position coordinate P of the target point corresponding to the echo pulse;

[0079] Using the camera imaging model, the projection of the target point to I is calculated based on its position coordinate P i Image coordinates M on i and its projection to I i+1 Image coordinates M on i+1 ;

[0080] Calculate the image coordinates M i and image coordinates M i+1 If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with T iThe laser radar emission pulse at time T is matched, otherwise the radar echo corresponding to the target point is matched with the T i-1 The laser radar transmit pulse at the moment matches.

[0081] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0082] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0084] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0086] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0087] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A laser radar multi-echo discrimination method, characterized in that: include: Get and Images captured by the moment camera and ,in, and The camera is in different positions at all times and obtains The laser radar echo pulse received within at least one cycle after the moment; where i is a positive integer; The laser radar first transmits a pulse at the moment; the period is the pulse transmission period of the laser radar; According to the laser radar echo pulse and The laser radar transmits a pulse at the moment to calculate the position coordinates of the target point corresponding to the echo pulse ; Using the camera imaging model, according to the position coordinates of the target point Calculate its projection to Image coordinates on and its projection to Image coordinates on ; Calculate image coordinates and image coordinates If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with The laser radar emission pulse at the moment is matched, otherwise the radar echo corresponding to the target point is matched with The laser radar emission pulse matching at the moment; The calculated image coordinates and image coordinates Similarity, including: In the image Get image coordinates on Neighborhood pixels in the image Get image coordinates on Neighborhood pixels of According to the image coordinates The neighborhood pixels of the corresponding local texture features are calculated ; According to the image coordinates The neighborhood pixels of the corresponding local texture features are calculated ; Using correlation coefficient to measure local texture features and similarity.

2. The method according to claim 1, characterized in that When the number of cycles of the acquired lidar echo pulse is greater than one cycle, the matched lidar echo pulse is deleted from the lidar echo pulse acquired in the next iterative process.

3. The method according to claim 2, characterized in that The upper limit of the number of cycles for obtaining the laser radar echo pulse is determined according to the hardware parameters of the laser radar system.

4. A laser radar multi-echo discrimination device, characterized in that: include: Data acquisition module, obtain and Images captured by the moment camera and ,in, and The camera is in different positions at all times and obtains The laser radar echo pulse received within at least one cycle after the moment; where i is a positive integer; The laser radar first transmits a pulse at the moment; the period is the pulse transmission period of the laser radar; The coordinate solution module is based on the laser radar echo pulse and The laser radar transmits a pulse at the moment to calculate the position coordinates of the target point corresponding to the echo pulse ; The projection calculation module uses the camera imaging model to calculate the position coordinates of the target point Calculate its projection to Image coordinates on and its projection to Image coordinates on ; Matching module, calculate image coordinates and image coordinates If the similarity is higher than the preset threshold, the radar echo corresponding to the target point is compared with The laser radar emission pulse at the moment is matched, otherwise the radar echo corresponding to the target point is matched with The laser radar emission pulse matching at the moment; The matching module includes a similarity calculation module, which is specifically used to: In the image Get image coordinates on Neighborhood pixels in the image Get image coordinates on Neighborhood pixels of According to the image coordinates The neighborhood pixels of the corresponding local texture features are calculated ; According to the image coordinates The neighborhood pixels of the corresponding local texture features are calculated ; Using correlation coefficient to measure local texture features and similarity.

5. The device according to claim 4, characterized in that When the number of cycles of the acquired lidar echo pulse is greater than one cycle, the matched lidar echo pulse is deleted from the lidar echo pulse acquired in the next iterative process.

6. The device according to claim 5, characterized in that The upper limit of the number of cycles for obtaining the laser radar echo pulse is determined according to the hardware parameters of the laser radar system.

7. An electronic device, characterized in that: include: Memory for storing computer software programs; A processor is used to read and execute the computer software program, thereby implementing a laser radar multi-echo discrimination method as described in any one of claims 1-3.

8. A non-transitory computer-readable storage medium, characterized in that The storage medium stores a computer software program for implementing a laser radar multi-echo discrimination method as described in any one of claims 1-3.

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