Angular resolution test method and apparatus, electronic device, and storage medium

Abstract

The application relates to the technical field of laser radars, and provides a kind of angular resolution test method, device, electronic equipment and storage medium, the method comprises: obtaining the point cloud array of target area, point cloud array is obtained based on the laser signal emitted by the laser radar to be tested;A plurality of reference points are determined from the point cloud array, wherein the plurality of reference points are located in the same row or the same column;According to the center position of the laser radar to be tested and the plurality of reference points, the angular resolution of the laser radar to be tested is determined.The center position of the laser radar to be tested and the plurality of reference points determined from the point cloud array can efficiently and accurately determine the angular resolution of the laser radar to be tested.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and more specifically, to an angular resolution testing method, apparatus, electronic device, and storage medium. Background Technology

[0002] LiDAR provides indispensable technical support for the technological upgrades of industries such as smart rail transit, smart civil aviation, smart shipping, vehicle-road cooperation and autonomous driving, drones, robots, level detection, security, and IoT (Internet of Things).

[0003] Angular resolution is one of the key performance parameters of LiDAR. Higher angular resolution allows for the detection of more object details, providing stable perceptual input for application algorithms. How to accurately test the angular resolution of LiDAR is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an angular resolution testing method, apparatus, electronic device, and storage medium that can accurately test the angular resolution of a lidar.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides an angular resolution testing method, the method comprising:

[0007] A point cloud array of the target area is obtained, which is based on the laser signal emitted by the lidar under test;

[0008] Multiple reference points are determined from the point cloud array, wherein the multiple reference points are located in the same row or the same column;

[0009] The angular resolution of the lidar under test is determined based on the center position of the lidar under test and the plurality of reference points.

[0010] In an optional implementation, the plurality of reference points includes a first reference point and a second reference point located at the endpoints of the same row or column. The step of determining the angular resolution of the lidar under test based on the center position of the lidar under test and the plurality of reference points includes:

[0011] Obtain the number of the plurality of reference points;

[0012] Calculate the angle between the first line segment connecting the center position and the first reference point and the second line segment connecting the center position and the second reference point;

[0013] The angular resolution is calculated based on the angle value and the number of the plurality of reference points.

[0014] In an optional implementation, the step of acquiring the point cloud array of the target region includes:

[0015] Acquire multiple point cloud data based on the laser signal emitted by the lidar under test;

[0016] The multiple point cloud data are clustered to obtain at least one point cloud data group. Each point cloud data group corresponds to a plane, and the point cloud data in the same point cloud data group belong to the same plane.

[0017] Determine the target plane from at least one of the planes;

[0018] The area within the preset selection box in the target plane is determined as the target area, and the point cloud array of the target area is obtained based on the point cloud data in the target area.

[0019] In an optional implementation, the step of determining the target plane from at least one of the planes includes:

[0020] Calculate the normal vector for each of the planes;

[0021] The plane whose normal vector is parallel to the X-axis of the coordinate system of the lidar under test is defined as the target plane.

[0022] In an optional implementation, the point cloud array includes multiple frames of point cloud arrays, each frame of the point cloud array including multiple reference points located in the same row or column, and the step of determining the angular resolution of the lidar under test based on the center position of the lidar under test and the multiple reference points includes:

[0023] Based on the center position of the lidar under test and multiple reference points of the point cloud array for each frame, the angular resolution corresponding to each frame is determined.

[0024] The angular resolution of the lidar under test is obtained by calculating the average angular resolution of all frames.

[0025] In an optional implementation, after the step of calculating the average angular resolution of all frames to obtain the angular resolution of the lidar under test, the method further includes:

[0026] Calculate the variance of the angular resolution corresponding to all frames in order to analyze the dispersion of the angular resolution corresponding to all frames based on the variance.

[0027] In an optional implementation, if the multiple reference points are located in the same column, the angular resolution of the lidar under test is the horizontal angular resolution; if the multiple reference points are located in the same row, the angular resolution of the lidar under test is the vertical angular resolution.

[0028] In a second aspect, the present invention provides an angular resolution testing device, the device comprising:

[0029] The acquisition module is used to acquire a point cloud array of the target area, wherein the point cloud array is obtained based on the laser signal emitted by the lidar under test;

[0030] A determining module is used to determine multiple reference points from the point cloud array, wherein the multiple reference points are located in the same row or the same column;

[0031] The determining module is further configured to determine the angular resolution of the lidar under test based on the center position of the lidar under test and the plurality of reference points.

[0032] In an optional implementation, the plurality of reference points includes a first reference point and a second reference point located at the endpoints of the same row or column, and the determining module is specifically used for:

[0033] Obtain the number of the plurality of reference points;

[0034] Calculate the angle between the first line segment connecting the center position and the first reference point and the second line segment connecting the center position and the second reference point;

[0035] The angular resolution is calculated based on the angle value and the number of the plurality of reference points.

[0036] In an optional implementation, the acquisition module is specifically used for:

[0037] Acquire multiple point cloud data based on the laser signal emitted by the lidar under test;

[0038] The multiple point cloud data are clustered to obtain at least one point cloud data group. Each point cloud data group corresponds to a plane, and the point cloud data in the same point cloud data group belong to the same plane.

[0039] Determine the target plane from at least one of the planes;

[0040] The area within the preset selection box in the target plane is determined as the target area, and the point cloud array of the target area is obtained based on the point cloud data in the target area.

[0041] In an optional implementation, the point cloud array comprises multiple frames of point cloud arrays, each frame of the point cloud array including multiple reference points located in the same row or column, and the determining module is used to:

[0042] Based on the center position of the lidar under test and multiple reference points of the point cloud array for each frame, the angular resolution corresponding to each frame is determined.

[0043] The angular resolution of the lidar under test is obtained by calculating the average angular resolution of all frames.

[0044] In an optional implementation, the determining module is further configured to:

[0045] Calculate the variance of the angular resolution corresponding to all frames in order to analyze the dispersion of the angular resolution corresponding to all frames based on the variance.

[0046] Thirdly, the present invention provides an electronic device including a processor and a memory, the memory being used to store a program, and the processor being used to implement the angular resolution testing method as described in any of the foregoing embodiments when executing the program.

[0047] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the angular resolution testing method as described in any of the foregoing embodiments.

[0048] Compared with the prior art, the present invention can accurately determine the angular resolution of the lidar under test by using the center position of the lidar under test and multiple reference points determined from the point cloud array. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 Example diagrams illustrating application scenarios provided in embodiments of the present invention.

[0051] Figure 2 A block diagram of an electronic device provided in an embodiment of the present invention.

[0052] Figure 3 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 1 .

[0053] Figure 4 Example diagram of a point cloud array for the target region.

[0054] Figure 5 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 2 .

[0055] Figure 6 An example diagram of the normal vector of the target plane provided in an embodiment of the present invention.

[0056] Figure 7 An example diagram of a preset selection box and a target area provided in an embodiment of the present invention.

[0057] Figure 8 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 3 .

[0058] Figure 9 An example diagram showing angle values ​​provided for embodiments of the present invention.

[0059] Figure 10 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 4 .

[0060] Figure 11 This is a block diagram of the angular resolution testing device provided in an embodiment of the present invention.

[0061] Icons: 10-Electronic device; 11-Processor; 12-Memory; 13-Bus; 14-Communication interface; 20-LiDAR; 100-Angular resolution testing device; 110-Acquisition module; 120-Determination module. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0064] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0065] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0066] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0067] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0068] Angular resolution is an important parameter of LiDAR. To determine the angular resolution of LiDAR, a common approach is to first acquire the point cloud data of LiDAR within a preset time and the LiDAR operating parameters for a preset number of frames, then use Matlab to analyze the point cloud data, and evaluate the LiDAR resolution based on the analysis results and operating parameters. This method involves many steps and has low testing efficiency.

[0069] In view of this, this embodiment provides an angular resolution testing method, apparatus, electronic device, and storage medium, which can efficiently test the angular resolution of lidar, and will be described in detail below.

[0070] Please refer to Figure 1 , Figure 1 This is an example diagram illustrating an application scenario provided in an embodiment of the present invention. Figure 1 In this configuration, electronic device 10 and lidar 20 are communicatively connected. Lidar 20 emits laser signals directly towards the wall and generates point cloud data based on the reflected signals. Electronic device 10 acquires the point cloud data from lidar 20 and uses it to determine the point cloud array required for the angular resolution of lidar 20. As an implementation method, to minimize testing errors, the laser emission port of lidar 20 can be positioned as directly as possible towards the center of the wall.

[0071] Electronic device 10 includes, but is not limited to, devices such as host computers, servers, and laptops.

[0072] based on Figure 1 This embodiment also provides Figure 1Please refer to the block diagram of the electronic device 10. Figure 2 , Figure 2 This is a block diagram of an electronic device 10 provided in an embodiment of the present invention. The electronic device 10 is used to execute the angular resolution testing method in this embodiment. The electronic device 10 includes a processor 11, a memory 12, a bus 13, and a communication interface 14. The processor 11 and the memory 12 are connected via the bus 13.

[0073] Processor 11 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed through integrated logic circuits in the hardware of processor 11 or through software instructions. Processor 11 can be a general-purpose processor, including CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0074] The memory 12 is used to store programs, such as the angular resolution testing device in the embodiment of the present invention. The angular resolution testing device 100 includes at least one software function module that can be stored in the memory 12 in the form of software or firmware. After receiving the execution instruction, the processor 11 executes the program to implement the angular resolution testing method in the embodiment of the present invention.

[0075] The memory 12 may include RAM (Random Access Memory) or non-volatile memory. Optionally, the memory 12 may be a storage device built into the processor 11 or a storage device independent of the processor 11.

[0076] Bus 13 can be an ISA bus, PCI bus, or EISA bus, etc. Figure 2 It is indicated by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0077] Electronic device 10 communicates with lidar 20 via communication interface 14.

[0078] exist Figure 1 and Figure 2Based on this, this embodiment provides an application for Figure 1 and Figure 2 For the angular resolution test method of electronic devices, please refer to [reference needed]. Figure 3 , Figure 3 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 1 The method includes the following steps:

[0079] Step S101: Obtain the point cloud array of the target area. The point cloud array is obtained based on the laser signal emitted by the lidar under test.

[0080] In this embodiment, the lidar under test can be Figure 1 or Figure 2 In the LiDAR under test, the LiDAR emits a laser signal through a transmitter, and the reflected laser signal is collected by a collector. The collected laser signal is converted into point cloud data. The electronic device 10 acquires the point cloud data from the LiDAR under test. The point cloud data includes the coordinates of each point. The electronic device 10 can read the point cloud data and visualize it using software such as Open3D. The point cloud array of the target area is obtained based on the point cloud data of the target area. As one implementation method, the point cloud array of the target area can be obtained by arranging the coordinates of the points in the target area in an orderly manner.

[0081] In this embodiment, the electronic device 10 visualizes the point cloud data obtained based on the laser signal emitted by the lidar as a point cloud space. Users can select a region in the point cloud space with a mouse, or directly input four coordinate positions and select the region by a rectangular area determined by the four coordinate positions. Since the selected region can be inside the point cloud space, or part of it can be inside the point cloud space and part of it can be outside the point cloud space, the target region is the region where the selected region overlaps with the point cloud space.

[0082] Step S102: Determine multiple reference points from the point cloud array, wherein the multiple reference points are located in the same row or the same column.

[0083] In this embodiment, multiple reference points can be any row or column in the point cloud array. To ensure testing effectiveness, the row or column with the fewest missing points, or the row or column with the fewest missing points and a relatively standardized arrangement, can be selected. Please refer to [reference needed]. Figure 4 , Figure 4 This is an example image of a point cloud array for the target region. Figure 4 The point cloud array consists of three columns. The middle column has the fewest missing points and the most regular arrangement, which means that the laser signal corresponding to the middle column is relatively stable and clear, and the points in the middle column can be used as reference points.

[0084] Step S103: Determine the angular resolution of the lidar under test based on the center position of the lidar under test and multiple reference points.

[0085] In this embodiment, the angular resolution includes horizontal angular resolution and vertical angular resolution. If multiple reference points are located in the same column, the determined angular resolution is the horizontal angular resolution. If multiple reference points are located in the same row, the determined angular resolution is the vertical angular resolution.

[0086] The method described in this embodiment can automatically and accurately determine the angular resolution of the lidar under test by using the center position of the lidar under test and multiple reference points determined from the point cloud array, thereby automating the entire process and improving testing efficiency.

[0087] In this embodiment, since laser signals are not usually ideally emitted only to a preset area—for example, although the lidar under test is emitting a laser signal directly at a wall in a room, the laser signal may simultaneously reach other walls in the room—the electronic device 10 acquires point cloud data from all the walls to which the laser signal reached. To eliminate interference from point cloud data from other walls and improve test accuracy, this embodiment also provides a method for acquiring a point cloud array of the target area. Please refer to [reference needed]. Figure 5 , Figure 5 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 2 Step S101 includes the following sub-steps:

[0088] Sub-step S1010: Acquire multiple point cloud data based on the laser signal emitted by the lidar under test.

[0089] Sub-step S1011: Cluster multiple point cloud data to obtain at least one point cloud data group. Each point cloud data group corresponds to a plane, and the point cloud data in the same point cloud data group belong to the same plane.

[0090] In this embodiment, as an implementation method, the RANSAC (RAndom Sampling Consensus) algorithm can be used to cluster multiple point cloud data, dividing the multiple point cloud data into at least one point cloud data group. Each point cloud data group includes multiple point cloud data, and the point cloud data in the same point cloud data group belong to the same plane, ultimately obtaining at least one plane.

[0091] Sub-step S1012: Determine the target plane from at least one plane.

[0092] In this embodiment, the target plane is the plane directly facing the laser emitted by the lidar under test. Since the lidar emits its laser signal directly towards the target plane, the laser signal on the target plane is more stable and clearer, and the angular resolution of the lidar under test calculated based on the point cloud data of the target plane is also more accurate. One way to determine the target plane is as follows:

[0093] First, calculate the normal vector for each plane;

[0094] In this embodiment, for any plane, the normal vector of any target point in the plane can be used as the normal vector of the plane. For any target point, two non-parallel vectors are constructed using the neighboring points of the target point in the point cloud array of the plane, and the normal vector of the target point is determined based on the non-parallel vectors.

[0095] Secondly, the plane whose normal vector is parallel to the X-axis of the coordinate system of the lidar under test is defined as the target plane.

[0096] It should be noted that the above is only one way to determine the target plane. In fact, other methods such as pre-specification and random selection can also be used to determine the target plane. For example, a plane can be randomly selected from at least one plane as the target plane, or a plane with more complete point cloud data information can be selected from at least one plane as the target plane.

[0097] In this embodiment, the coordinate system of the lidar under test is either a three-dimensional xyz coordinate system or a two-dimensional xy coordinate system established with the laser emission port of the lidar under test as the origin. For example, regarding the three-dimensional coordinate system, please refer to... Figure 6 , Figure 6 This is an example diagram of the normal vector of the target plane provided in an embodiment of the present invention. Figure 6 In the figure, the coordinates x, y, and z of the target plane are shown in the figure. The normal vector of the target plane is parallel to x.

[0098] Sub-step S1013: Determine the area in the target plane that is within the preset selection box as the target area, and obtain the point cloud array of the target area based on the point cloud data in the target area.

[0099] In this embodiment, the target area can be the same as the area within the preset selection box, or it can be a portion of the area within the preset selection box. If the edge line of the target plane is not within the preset selection box, then the area within the preset selection box is the target area. If at least one edge line of the target plane is within the preset selection box, then the area overlapping the area within the preset selection box and the target plane is the target area. Please refer to... Figure 7 , Figure 7 This is an example diagram of the preset selection box and target area provided in an embodiment of the present invention. Figure 7In the above, for target plane 1, the target area is the same as the area within the preset selection box, that is, the area with a diagonal background color in target plane 1. For target plane 2, the area within the preset selection box is the area within the dashed box, and the target area is the area where the area within the preset selection box overlaps with target plane 2, that is, the area with a diagonal background color in target plane 2.

[0100] In this embodiment, the point cloud data of the target area includes the coordinates of each point. The point cloud array of the target area is obtained by arranging the coordinates of each point in the target area in order.

[0101] The method provided in this embodiment can automatically determine the target area based on a specified preset selection box, and then determine the point cloud array of the target area, thereby improving the efficiency of determining the point cloud of the target area and thus improving the efficiency of angular resolution testing.

[0102] based on Figure 3 In addition to the above methods, this embodiment also provides a way to determine the angular resolution of the lidar under test. Please refer to [link / reference]. Figure 8 , Figure 8 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 3 Step S103 includes the following sub-steps:

[0103] Sub-step S103-10: Obtain the number of multiple reference points;

[0104] In this embodiment, the multiple reference points include a first reference point and a second reference point located at the endpoints of the same row or the same column. When the multiple reference points are located in the same row, the first reference point and the second reference point are reference points for the two endpoints of the row, respectively. When the multiple reference points are located in the same column, the first reference point and the second reference point are reference points for the two endpoints of the column, respectively.

[0105] Sub-step S103-11: Calculate the angle between the first line segment connecting the center position and the first reference point and the second line segment connecting the center position and the second reference point.

[0106] In this embodiment, for a clearer explanation of the angle values, please refer to... Figure 9 , Figure 9 An example diagram of angle values ​​provided in an embodiment of the present invention. Figure 9 In the diagram, the first reference point and the center position form a first line segment, and the second reference point and the center position form a second line segment. The angle between the first line segment and the second line segment is the angle value.

[0107] In this embodiment, the angle value can be calculated based on the coordinates of the first reference point, the coordinates of the second reference point, and the coordinates of the center position. For example, taking multiple reference points as reference points in the same column, where the first reference point is the maximum y-axis coordinate 'a' of that column and the second reference point is the minimum y-axis coordinate 'b' of that column, then the angle value is θ. The formula for calculating the angle value is:

[0108] Sub-step S103-12: Calculate the angular resolution based on the angle value and the number of multiple reference points.

[0109] In this embodiment, angular resolution = angle value / number of reference points.

[0110] The method provided in this embodiment utilizes the angle value between the first line segment connecting the first reference point and the center position and the second line segment connecting the second reference point and the center position. This makes the angle value calculation method simple and has high reference value, ultimately resulting in high accuracy and efficiency of the tested angular resolution.

[0111] In practical applications, laser signals inevitably fluctuate. To minimize interference from these fluctuations, this embodiment also employs a method of calculating angular resolution using a multi-frame point cloud array. Please refer to [link to relevant documentation]. Figure 10 , Figure 10 A flowchart of the angular resolution testing method provided in this embodiment of the invention. Figure 4 Step S103 includes the following sub-steps:

[0112] Sub-steps S103-20: Determine the angular resolution of each frame based on the center position of the lidar under test and multiple reference points of the point cloud array for each frame.

[0113] In this embodiment, the point cloud array includes a multi-frame point cloud array. Each frame of the point cloud array includes multiple reference points located in the same row or column. The angular resolution corresponding to each frame has been described in detail in the above steps S101 and sub-steps S1010 to S1013, S102, S103 and sub-steps S103-10 to S103-12, and will not be repeated here.

[0114] Sub-step S103-21: Calculate the average angular resolution of all frames to obtain the angular resolution of the lidar under test.

[0115] In this embodiment, as one implementation method, the number of frames can be preset, for example, 100 frames, to obtain 100 frames of point cloud array. For each frame, the corresponding angular resolution is calculated using multiple reference points in its point cloud array. That is, each frame corresponds to an angular resolution. Then, the angular resolution of 100 frames is averaged to obtain the angular resolution of the lidar under test. This reduces the influence of laser fluctuations on angular resolution and improves the accuracy of angular resolution testing.

[0116] In this embodiment, to analyze the angular resolution more accurately and obtain more valuable test data on the angular resolution of the lidar under test, and to optimize the lidar under test based on the test data, this embodiment also provides a method for analyzing the dispersion of angular resolution across multiple frames:

[0117] Calculate the variance of the angular resolution for all frames to analyze the dispersion of the angular resolution for all frames based on the variance.

[0118] It should be noted that, to facilitate the overall analysis of test data, based on the automated test angular resolution provided in this embodiment, the angular resolution corresponding to each frame can be determined in real time. Mathematical calculations and analyses are then performed using software libraries such as NumPy, and the calculation and analysis results are sent to the terminal for display, facilitating further analysis by testers. Data calculation and analysis include, but are not limited to, calculating the average or variance of the angular resolution for a preset number of frames.

[0119] To perform the corresponding steps in the above embodiments and various possible implementations, an implementation of an angular resolution testing device is given below. Please refer to... Figure 11 , Figure 11 This is a block diagram of the angular resolution testing device 100 provided in an embodiment of the present invention. It should be noted that the angular resolution testing device 100 provided in this embodiment has the same basic principle and technical effects as those in the above embodiments; however, for the sake of brevity, some details are not mentioned in this embodiment.

[0120] The angular resolution testing device 100 includes an acquisition module 110 and a determination module 120.

[0121] The acquisition module 110 is used to acquire the point cloud array of the target area, which is obtained based on the laser signal emitted by the lidar under test.

[0122] In an optional implementation, the acquisition module 110 is specifically used to: acquire multiple point cloud data generated based on the laser signal emitted by the lidar under test; cluster the multiple point cloud data to obtain at least one point cloud data group, each point cloud data group corresponding to a plane, and the point cloud data in the same point cloud data group belonging to the same plane; determine a target plane from the at least one plane; determine the area in the target plane that is in a preset selection box as the target area, and obtain the point cloud array of the target area based on the point cloud data in the target area.

[0123] In an optional implementation, the acquisition module 110, when determining a target plane from at least one plane, specifically performs the following: calculates the normal vector of each plane; and determines the plane whose normal vector is parallel to the X-axis of the coordinate system of the lidar under test as the target plane.

[0124] The determination module 120 is used to determine multiple reference points from the point cloud array, wherein the multiple reference points are located in the same row or the same column.

[0125] The determination module 120 is also used to determine the angular resolution of the lidar under test based on the center position of the lidar under test and multiple reference points.

[0126] In an optional implementation, the multiple reference points include a first reference point and a second reference point located at the endpoints of the same row or column. The determining module 120 is specifically used to: obtain the number of multiple reference points; calculate the angle between the center position and the first line segment connecting the first reference point and the second line segment connecting the center position and the second reference point.

[0127] By utilizing the angle between the first line segment connecting the first reference point and the center position and the second line segment connecting the second reference point and the center position, the angle calculation method is both simple and has high reference value, ultimately resulting in high accuracy and efficiency of the measured angular resolution.

[0128] In an optional implementation, the point cloud array includes a multi-frame point cloud array, and each frame of the point cloud array includes multiple reference points located in the same row or column. The determining module 120 is further configured to: determine the angular resolution corresponding to each frame based on the center position of the lidar under test and the multiple reference points of each frame of the point cloud array; calculate the average value of the angular resolutions corresponding to all frames to obtain the angular resolution of the lidar under test.

[0129] In an optional implementation, the determining module 120 is further configured to: calculate the variance of the angular resolution corresponding to all frames, so as to analyze the dispersion of the angular resolution corresponding to all frames based on the variance.

[0130] In an optional implementation, in the angular resolution testing device 100, if multiple reference points are located in the same column, the angular resolution of the lidar under test is the horizontal angular resolution; if multiple reference points are located in the same row, the angular resolution of the lidar under test is the vertical angular resolution.

[0131] This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the angular resolution testing method as described in the foregoing embodiments.

[0132] In summary, embodiments of the present invention provide an angular resolution testing method, apparatus, electronic device, and storage medium. The method includes: acquiring a point cloud array of a target area, wherein the point cloud array is obtained based on the laser signal emitted by the lidar under test; determining multiple reference points from the point cloud array, wherein the multiple reference points are located in the same row or column; and determining the angular resolution of the lidar under test based on the center position of the lidar under test and the multiple reference points. Compared with the prior art, embodiments of the present invention can efficiently and accurately determine the angular resolution of the lidar under test by using the center position of the lidar under test and the multiple reference points determined from the point cloud array.

[0133] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for testing angular resolution, characterized in that, The method includes: A point cloud array of the target area is obtained, which is based on the laser signal emitted by the lidar under test; Multiple reference points are determined from the point cloud array, wherein the multiple reference points are located in the same row or the same column; The angular resolution of the lidar under test is determined based on its center position and the plurality of reference points, wherein the plurality of reference points include a first reference point and a second reference point located at the endpoints of the same row or column; the step of determining the angular resolution of the lidar under test based on its center position and the plurality of reference points includes: Obtain the number of the plurality of reference points; Calculate the angle between the first line segment connecting the center position and the first reference point and the second line segment connecting the center position and the second reference point; The angular resolution is calculated based on the angle value and the number of the plurality of reference points; The steps for obtaining the point cloud array of the target region include: Acquire multiple point cloud data based on the laser signal emitted by the lidar under test; The multiple point cloud data are clustered to obtain at least one point cloud data group. Each point cloud data group corresponds to a plane, and the point cloud data in the same point cloud data group belong to the same plane. A target plane is determined from at least one of the planes, the target plane being the plane on which the laser emitted by the lidar under test is facing; The area within the preset selection box in the target plane is determined as the target area, and the point cloud array of the target area is obtained based on the point cloud data in the target area.

2. The angular resolution testing method as described in claim 1, characterized in that, The step of determining the target plane from at least one of the planes includes: Calculate the normal vector for each of the planes; The plane whose normal vector is parallel to the X-axis of the coordinate system of the lidar under test is defined as the target plane.

3. The angular resolution testing method as described in claim 1, characterized in that, The point cloud array comprises multiple frames of point cloud arrays, each frame of the point cloud array including multiple reference points located in the same row or column. The step of determining the angular resolution of the lidar under test based on the center position of the lidar under test and the multiple reference points includes: Based on the center position of the lidar under test and multiple reference points of the point cloud array for each frame, the angular resolution corresponding to each frame is determined. The angular resolution of the lidar under test is obtained by calculating the average angular resolution of all frames.

4. The angular resolution testing method as described in claim 3, characterized in that, After the step of calculating the average angular resolution of all frames to obtain the angular resolution of the lidar under test, the method further includes: Calculate the variance of the angular resolution corresponding to all frames in order to analyze the dispersion of the angular resolution corresponding to all frames based on the variance.

5. The angular resolution testing method as described in claim 1, characterized in that, If the multiple reference points are located in the same column, the angular resolution of the lidar under test is the horizontal angular resolution; if the multiple reference points are located in the same row, the angular resolution of the lidar under test is the vertical angular resolution.

6. An angular resolution testing device, characterized in that, The device includes: The acquisition module is used to acquire a point cloud array of the target area, wherein the point cloud array is obtained based on the laser signal emitted by the lidar under test; A determining module is used to determine multiple reference points from the point cloud array, wherein the multiple reference points are located in the same row or the same column; The determining module is further configured to determine the angular resolution of the lidar under test based on the center position of the lidar under test and the plurality of reference points, wherein the plurality of reference points include a first reference point and a second reference point located at the endpoints of the same row or column. The determining module is specifically used for: obtaining the number of the plurality of reference points; calculating the angle between the first line segment connecting the center position and the first reference point and the second line segment connecting the center position and the second reference point; and calculating the angular resolution based on the angle value and the number of the plurality of reference points. The acquisition module is specifically used for: acquiring multiple point cloud data generated based on the laser signal emitted by the lidar under test; clustering the multiple point cloud data to obtain at least one point cloud data group, each point cloud data group corresponding to a plane, and the point cloud data in the same point cloud data group belonging to the same plane; determining a target plane from the at least one plane, the target plane being the plane directly opposite to the laser emitted by the lidar under test; determining the area in the target plane that is in a preset selection box as the target area, and obtaining the point cloud array of the target area based on the point cloud data in the target area.

7. The angular resolution testing device as described in claim 6, characterized in that, The point cloud array comprises multiple frames of point cloud arrays, each frame of the point cloud array including multiple reference points located in the same row or column, and the determining module is used for: Based on the center position of the lidar under test and multiple reference points of the point cloud array for each frame, the angular resolution corresponding to each frame is determined. The angular resolution of the lidar under test is obtained by calculating the average angular resolution of all frames.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store a program, and the processor being used to implement the angular resolution testing method as described in any one of claims 1-5 when executing the program.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the angular resolution testing method as described in any one of claims 1-5.

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