Motion compensation method and device of point cloud, storage medium and lidar

Abstract

The application discloses a motion compensation method and device of a point cloud, a storage medium and a laser radar, and is applied to the laser radar. The method comprises the following steps: acquiring millimeter wave point cloud data frames scanned by a millimeter wave radar in a preset working area, wherein each millimeter wave point cloud data frame comprises a plurality of millimeter wave point cloud data; wherein each millimeter wave point cloud data comprises a time stamp and motion parameters of a target object; acquiring laser radar point cloud data frames scanned by the laser radar in the preset working area, wherein each laser radar point cloud data frame comprises a plurality of laser radar point cloud data, and each laser radar point cloud data comprises a time stamp and a spatial position coordinate of the target object; fusing the millimeter wave point cloud data and the laser radar point cloud data to obtain fusion data; and performing pose compensation on the laser radar point cloud data based on the fusion data. By adopting the application, the accuracy and correctness of a laser radar detection result can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a point cloud motion compensation method and device, a storage medium and a laser radar. BACKGROUND

[0002] The laser radar is widely used in the field of automatic driving. The laser radar can quickly establish a three-dimensional model of the surrounding environment of the vehicle through laser scanning, and provide basic data for high-precision map making, obstacle identification and vehicle positioning, so as to perceive the driving environment of the vehicle. When the bearing platform configured with the laser radar is in a motion state, only using the three-dimensional model of the surrounding environment established by the collected laser point cloud is deformed, and cannot truly reflect the environment around the laser radar at a certain moment. SUMMARY

[0003] The embodiments of the present application provide a point cloud motion compensation method, device, storage medium and laser radar, which can compensate for the distortion and correct the motion distortion. The technical solution is as follows:

[0004] In a first aspect, the embodiments of the present application provide a point cloud motion compensation method, which comprises the following steps:

[0005] Obtaining millimeter wave point cloud data frames scanned by a millimeter wave radar in a preset working area, each millimeter wave point cloud data frame comprising a plurality of millimeter wave point cloud data; wherein each millimeter wave point cloud data comprises a time stamp and motion parameters of a target object;

[0006] Obtaining point cloud data frames of the laser radar scanned in the preset working area, each point cloud data frame comprising a plurality of laser radar point cloud data, and each laser radar point cloud data comprising a time stamp and a spatial position coordinate of the target object;

[0007] Fusing the millimeter wave point cloud data and the laser radar point cloud data to obtain fused data;

[0008] Compensating the pose of the laser radar point cloud data based on the fused data;

[0009] Wherein, the laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers the preset working area.

[0010] In a second aspect, the embodiments of the present application provide a point cloud motion compensation device, which comprises the following steps:

[0011] The first data acquisition module is configured to acquire millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area, each millimeter wave point cloud data frame including a plurality of millimeter wave point cloud data, wherein each millimeter wave point cloud data includes a time stamp and a motion parameter of a target object.

[0012] The second data acquisition module is configured to acquire point cloud data frames of the laser radar scanned by the laser radar in the preset working area, each point cloud data frame including a plurality of laser radar point cloud data, each laser radar point cloud data including a time stamp and a spatial position coordinate of the target object.

[0013] The data fusion module is configured to fuse the millimeter wave point cloud data and the laser radar point cloud data to obtain fused data.

[0014] The pose compensation module is configured to perform pose compensation on the laser radar point cloud data based on the fused data.

[0015] The laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers the preset working area.

[0016] In a third aspect, an embodiment of the present application provides a computer storage medium, the computer storage medium

[0017] stores a plurality of instructions, the instructions being suitable for being loaded by a processor and performing the method steps described above.

[0018] In a fourth aspect, an embodiment of the present application provides a laser radar, which can include a processor and a memory.

[0019] The memory stores a computer program, the computer program being suitable for being loaded by the processor

[0020] and performing the method steps described above.

[0021] The technical solutions provided by some embodiments of the present application have at least the following beneficial effects:

[0022] With the embodiment, a plurality of motion parameter data scanned by the millimeter wave radar in the preset working area is obtained; the motion parameter data includes a timestamp and a motion parameter of a target object; a point cloud data frame of the laser radar scanned in the preset working area is obtained, each point cloud data frame includes a plurality of laser radar point cloud data, and each laser radar point cloud data includes a timestamp and a spatial position coordinate of the target object; the millimeter wave point cloud data is fused with the laser radar point cloud data to obtain fusion data; and the laser radar point cloud data is pose compensated based on the fusion data; the laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers the preset working area. When the laser radar point cloud data scanned by the laser radar is subject to motion distortion, the laser radar point cloud data to be compensated is pose compensated to obtain corrected laser radar point cloud data, and the accuracy and correctness of the detection result of the laser radar are improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a flowchart of a point cloud motion compensation method provided by an embodiment of the present application;

[0025] Figure 2 is a coordinate diagram using a bilinear interpolation method provided by an embodiment of the present application;

[0026] Figure 3 is an example diagram of a point cloud data frame provided by an embodiment of the present application;

[0027] Figure 4 is an example diagram of a millimeter wave radar and a laser radar scanning area provided by an embodiment of the present application;

[0028] Figure 5 is a flowchart of a point cloud motion compensation method provided by an embodiment of the present application;

[0029] Figure 6 is a flowchart of a point cloud motion compensation method provided by an embodiment of the present application;

[0030] Figure 7 is a structure diagram of a point cloud motion compensation device provided by an embodiment of the present application;

[0031] Figure 8 is a structural schematic diagram of a point cloud motion compensation device provided by an embodiment of the present application;

[0032] Figure 9 is a structural schematic diagram of a pose compensation module provided by an embodiment of the present application;

[0033] Figure 10 is a structural schematic diagram of a first pose compensation unit provided by an embodiment of the present application;

[0034] Figure 11 is a structural schematic diagram of a laser radar provided by an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0036] The following description refers to the accompanying drawings. Unless otherwise noted, like numbers in different drawings refer to the same or similar elements. The following description of the example embodiments is not meant to limit the application in any way. Rather, it is intended to provide an overview of the application to assist in understanding the application.

[0037] In the description of the present application, it should be understood that the terms "first", "second" and the like are used only for the purpose of description, and should not be understood as indicating or implying relative importance. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" means two or more. The "and / or" describes the relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0038] The present application will be described in detail below with reference to specific embodiments.

[0039] The following will be described in detail with reference to the accompanying drawings. Figure 1 - the Figure 11The motion compensation method of the point cloud provided by the embodiment of the application is introduced in detail. The method can be realized by relying on a computer program and can run on a point cloud motion compensation device based on the von Neumann system. The computer program can be integrated in an application or run as a stand-alone tool application. The point cloud motion compensation device in the embodiment of the application can be any device that adopts the point cloud motion compensation method, including but not limited to: a vehicle-mounted device, an airplane, a train, a handheld device, a wearable device, a computing device, or another processing device connected to a wireless modem.

[0040] The laser radar is more accurate than the millimeter wave radar in ranging and obstacle identification, but the millimeter wave radar is superior to the laser radar in speed detection capability, so the scheme adopts the millimeter wave radar to obtain the relative motion state of the laser radar and the surrounding objects, and determines whether to perform pose compensation based on the relative motion state of the laser radar and the surrounding objects obtained by the millimeter wave radar.

[0041] Please refer to Figure 1 A flowchart of a point cloud motion compensation method is provided for the embodiment of the application.

[0042] As Figure 1 indicated, the method of the embodiment of the application can include the following steps:

[0043] S101, obtaining millimeter wave point cloud data frames scanned by a millimeter wave radar in a preset working area, each millimeter wave point cloud data frame including a plurality of millimeter wave point cloud data; wherein each millimeter wave point cloud data includes a timestamp and a motion parameter of a target object.

[0044] The millimeter wave radar is a detection radar working in the millimeter wave band. The frequency domain of the millimeter wave band is usually 30 GHz-300 GHz (wavelength is 1 mm-10 mm).

[0045] The target object refers to an object scanned by the millimeter wave radar based on its scanning range, excluding the laser radar. The target object can be an object appearing near the millimeter wave radar or an object far away but within the scanning range of the millimeter wave radar. The target object can be any kind and number of objects, which is not limited here.

[0046] The motion parameter of the target object includes the instantaneous speed of the target object and the azimuth angle of the target object.

[0047] The motion parameter of the lidar represents the motion attribute of the lidar, and the motion parameter includes one or more of angular velocity, linear velocity, linear acceleration and angular acceleration. In this application, the motion parameter of the lidar can be obtained by a measurement unit, wherein the measurement unit is a device for measuring the three-axis attitude angle or acceleration of an object, and generally includes three single-axis accelerometers and three single-axis gyroscopes, the accelerometers are used to measure the linear acceleration or linear velocity of the object, and the gyroscopes are used to measure the angular velocity or angular acceleration of the object. In this embodiment, the measurement unit measures the motion parameter of the lidar by using the gyroscope and records the timestamp of the motion parameter, and the angular velocity can be expressed by rad / s or deg / s. The measurement unit can measure the motion parameter data in a periodic manner or in a non-periodic manner. It should be understood that the motion parameter measured by the measurement unit can be the motion parameter of any one or more of the three axes, for example, when the carrying platform is a vehicle, the lidar is arranged on the vehicle, the vehicle mainly travels along the road surface, and the angular velocity change caused by the turning of the vehicle is also based on the horizontal plane or other planes (for example, a plane perpendicular to the horizontal plane), and the measurement unit measures the motion parameter on the horizontal plane. The measurement unit can be an inertial measurement unit. It can be understood that the measurement unit can be integrated inside the lidar or on the carrying platform of the lidar, and the lidar and the carrying platform are in communication connection.

[0048] S102, obtaining a point cloud data frame of the lidar scanned by the lidar in the preset working area, each point cloud data frame including a plurality of lidar point cloud data, and each lidar point cloud data including a timestamp and a spatial position coordinate of the target object.

[0049] The lidar obtains the echo signal, processes the echo signal to obtain echo data, and uses the echo data for point cloud output to obtain a point cloud data frame, wherein each point cloud data frame includes a plurality of lidar point cloud data.

[0050] The preset working area refers to a scanning area of the lidar in the working process, which can be set according to the threshold of the working area of the lidar.

[0051] The lidar and the millimeter wave radar can be arranged on a vehicle, when the vehicle travels, the linear velocity can change, and the angular velocity will also change based on the horizontal plane when the vehicle turns. At this time, the relative motion state between the lidar and the target object will also change, and therefore the pose compensation of the lidar point cloud data obtained by the lidar is continuously and dynamically performed.

[0052] S103, fusing the millimeter wave point cloud data and the lidar point cloud data to obtain fusion data;

[0053] The fusion manner can be a nearest neighbor search algorithm or a linear interpolation manner.

[0054] The nearest neighbor search is also called "nearest point search", which can solve the optimization problem of finding the nearest point in the scale space. The linear interpolation can be any one of the nearest neighbor interpolation, bilinear interpolation, and bicubic interpolation. Taking the bilinear interpolation as an example, it is known that the bilinear interpolation is a generalization of linear interpolation, which makes three linear interpolations in two directions. A hyperbolic paraboloid is defined to fit four known points. The specific operation is to perform two linear interpolation calculations in the X direction, and then perform one interpolation calculation in the Y direction.

[0055] As shown in the formula (1): Figure 2 f(x, y) is a binary function, and it is assumed that the values of four points f(x0, y0), f(x1, y1), f(x0, y1), and f(x1, y0) are known. The four points determine a rectangle, and the function value of any point in the rectangle is obtained by interpolation.

[0056] First, perform two linear interpolations in the x direction to obtain:

[0057]

[0058] Then perform one linear interpolation in the y direction to obtain:

[0059]

[0060] In summary, the result of bilinear interpolation is:

[0061]

[0062] If a coordinate system is selected such that the coordinates of the four points where f(x) is known are (0, 0), (0, 1), (1, 0), and (1, 1), then a unit square is determined, and the four points are the four vertices of the square:

[0063] First, perform linear interpolation on the two vertices at the top to obtain:

[0064]

[0065] Then perform linear interpolation on the two vertices at the bottom to obtain:

[0066]

[0067] Finally, perform linear interpolation in the vertical direction to determine:

[0068]

[0069] The simplified form of the interpolation formula is obtained:

[0070]

[0071] And the nearest neighbor search algorithm can be calculated for the transformation matrix between the millimeter wave point cloud data and the point cloud data obtained by the laser radar, which represents the position difference between the millimeter wave point cloud data and the point cloud data obtained by the laser radar. Based on the transformation matrix, the coordinate offset degree of the two can be understood, so as to obtain the fusion data.

[0072] S104, based on the fusion data, the laser radar point cloud data is compensated for pose; wherein, the laser radar and the millimeter wave radar have an overlapping scanning area and the overlapping scanning area covers a preset working area.

[0073] Wherein, before the laser radar point cloud data is compensated for pose based on the fusion data, the method further comprises: clustering the fusion data; determining the motion state of the target object relative to the laser radar according to the clustered fusion data.

[0074] The laser radar point cloud data contains a plurality of column point clouds, taking one column as an example, as shown in Figure 3 The first point cloud in the scanning time sequence is taken as the reference point, and the laser radar point cloud data at the same time which needs to be corrected is compensated for pose, so that it is translated to the position where the reference point is located and coincides with the reference point, completing the correction of this point cloud. Then, taking this corrected point cloud as the reference point, the next time stamp point cloud needs to be compensated for pose, until the pose compensation of this column point cloud is completed, and a corrected column point cloud is obtained. According to the time sequence, the next column point cloud is compensated for pose.

[0075] It should be clear that the motion compensation is to compensate the radar point cloud to the radar pose at a certain unified time, which is a relative motion relationship. For any rigid body in space, the pose in a certain reference coordinate system can be represented by translation t and rotation R. Usually, it is represented as homogeneous transformation relationship for convenience:

[0076]

[0077] And the relative relationship between two poses can be represented by homogeneous transformation:

[0078]

[0079] Wherein, T1, T2 represents the pose of two poses in the reference coordinate system, and T12 represents the conversion of the second pose to the first pose, and inverse () represents the inverse operation of the matrix. And for the rotation matrix R, the inverse is equal to the transpose ().

[0080] .transpose

[0081] Wherein, the overlapping scanning area of the laser radar and the millimeter wave radar is as shown in Figure 4 .

[0082] With the present embodiment, millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area are obtained, each millimeter wave point cloud data frame includes multiple millimeter wave point cloud data, each millimeter wave point cloud data includes a time stamp and a motion parameter of a target object, laser radar point cloud data frames scanned by the laser radar in the preset working area are obtained, each point cloud data frame includes multiple laser radar point cloud data, each laser radar point cloud data includes a time stamp and a spatial position coordinate of the target object, the millimeter wave point cloud data and the laser radar point cloud data are fused to obtain fusion data, and the laser radar point cloud data is pose compensated based on the fusion data, wherein the laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers a preset working area. When the laser radar point cloud data scanned by the laser radar is subject to motion distortion, the laser radar point cloud data to be compensated can be pose compensated to obtain corrected laser radar point cloud data, thereby improving the accuracy and correctness of the laser radar detection result.

[0083] Please refer to Figure 5 , a flowchart of a laser radar detection method provided by the present embodiment. As shown in Figure 5 , the laser radar detection method can include the following steps:

[0084] S201, calibrating the external parameters of the millimeter wave radar and the laser radar and synchronizing the time;

[0085] Wherein, the external parameter calibration of the millimeter wave radar and the laser radar refers to solving the relative transformation relationship of the coordinate system corresponding to the laser radar relative to the coordinate system corresponding to the millimeter wave radar, which includes the translation and rotation relationship between the coordinate system corresponding to the millimeter wave radar and the coordinate system corresponding to the laser radar, and the time stamp indicates the time when the point cloud data corresponding to the millimeter wave radar or the laser radar is generated, so the time synchronization can use the time stamp in the multiple motion parameter data scanned by the millimeter wave radar and the time stamp of the laser radar point cloud data in the point cloud data frame obtained by the laser radar to synchronize the time between the two radars.

[0086] S202, obtaining millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area, each millimeter wave point cloud data frame including multiple millimeter wave point cloud data; wherein each millimeter wave point cloud data includes a time stamp and a motion parameter of a target object;

[0087] Please see S101, which will not be repeated here.

[0088] S203, obtain the point cloud data frame of the laser radar scanned by the laser radar in the preset working area, each point cloud data frame comprising a plurality of laser radar point cloud data, each laser radar point cloud data comprising a timestamp and a spatial position coordinate of the target object;

[0089] Please see S102, which will not be repeated here.

[0090] S204, fuse the millimeter wave point cloud data and the laser radar point cloud data to obtain fusion data;

[0091] Please see S103, which will not be repeated here.

[0092] S205, when the fusion data indicates that the target object is in a static state relative to the laser radar, the laser radar point cloud data is not pose compensated;

[0093] Before the laser radar point cloud data is not pose compensated when the fusion data indicates that the target object is in a static state relative to the laser radar, the method further comprises:

[0094] Clustering the fusion data;

[0095] Determining the motion state of the target object relative to the laser radar according to the clustered fusion data.

[0096] Determining the motion state of the target object relative to the laser radar according to the clustered fusion data, specifically comprising: obtaining the motion parameter information of the radar according to the measurement unit, the motion parameter comprising one or more of angular velocity, linear velocity, linear acceleration and angular acceleration;

[0097] According to the motion parameter information of the target object in the fusion data and the motion parameter information of the laser radar, the motion state of the target object relative to the laser radar is obtained.

[0098] When the relative motion state of the target object between the laser radars is a static state, there is basically no motion distortion or the motion distortion can be ignored, so the laser radar point cloud data is not pose compensated.

[0099] For example, when the target object and the laser radar move at the same speed in the same road condition, the target object and the laser radar can be considered to be relatively static. When the speed of the target object and the laser radar in a certain direction is zero, the target object and the laser radar can be considered to be relatively static.

[0100] S206, when the fusion data indicates that the target object is in a moving state relative to the lidar, calculating a pose compensation amount of the lidar point cloud data according to a relative speed difference of the target object relative to the lidar; and performing pose compensation on the lidar point cloud data according to the pose compensation amount and a spatial position coordinate of the target object.

[0101] When the lidar is working, there are three possible cases for the motion state of the target object relative to the lidar. When the motion direction of the target object is the same as that of the lidar, and the motion speed of the target object is higher than that of the lidar, the distance between the target object and the lidar becomes farther and farther. When the motion direction of the target object is opposite to that of the lidar, or the motion direction of the target object is the same as that of the lidar but the motion speed of the target object is lower than that of the lidar, the target object will approach the lidar.

[0102] When the relative motion state of the target object relative to the lidar is a non-stationary state, the lidar point cloud data needs to be pose compensated.

[0103] When the fusion data indicates that the target object is in a stationary state relative to the lidar, the lidar point cloud data does not need to be pose compensated.

[0104] When the relative motion state of the target object relative to the lidar is a non-stationary state, the lidar point cloud data acquired by the lidar needs to be pose compensated, which specifically includes:

[0105] determining motion parameter information of the target object according to the fusion data;

[0106] obtaining a motion parameter difference between the lidar and the target object;

[0107] calculating a relative speed difference of the target object relative to the lidar according to the motion parameter information of the target object in the fusion data and the motion parameter information of the lidar,

[0108] when the relative speed difference is greater than a speed difference threshold, calculating a pose compensation amount of the lidar point cloud data according to the relative speed difference.

[0109] In the embodiment of the present application, the millimeter wave radar and the laser radar are calibrated and time-synchronized, the relative transformation relationship of the coordinate system corresponding to the laser radar relative to the coordinate system corresponding to the millimeter wave radar is obtained, and subsequent data fusion is facilitated. Millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area are obtained, each millimeter wave point cloud data frame includes a plurality of millimeter wave point cloud data, each millimeter wave point cloud data includes a time stamp and motion parameters of a target object, and laser radar point cloud data frames scanned by the laser radar in the preset working area are obtained, each point cloud data frame includes a plurality of laser radar point cloud data, and each laser radar point cloud data includes a time stamp and a spatial position coordinate of the target object. The millimeter wave point cloud data and the laser radar point cloud data are fused to obtain fusion data, the fusion data includes instantaneous speed and azimuth angle information of the target object, and whether the target object is in relative motion relative to the radar is determined according to the instantaneous speed of the target object and the speed information of the radar carrier. When the fusion data indicates that the target object is in a static state relative to the laser radar, the laser radar point cloud data is not subjected to pose compensation. For the case that motion compensation is not required, pose correction is not performed, and the computational amount of point cloud correction is reduced. When the fusion data indicates that the target object is in a motion state relative to the laser radar, the pose compensation amount of the laser radar point cloud data is calculated according to the relative speed difference of the target object relative to the laser radar, and the laser radar point cloud data is subjected to pose compensation according to the pose compensation amount and the spatial position coordinate of the target object. When the laser radar point cloud data scanned by the laser radar is subjected to motion distortion, the laser radar point cloud data subjected to compensation is subjected to pose compensation to obtain corrected laser radar point cloud data, and the accuracy and correctness of the detection result of the laser radar are improved.

[0110] Please refer to Figure 6 , a flowchart of a laser radar detection method provided in the embodiment of the present application. As Figure 6 shown, the laser radar detection method can include the following steps:

[0111] S301, the millimeter wave radar and the laser radar are calibrated and time-synchronized;

[0112] Please refer to S201, which will not be repeated here.

[0113] S302, millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area are obtained, each millimeter wave point cloud data frame includes a plurality of millimeter wave point cloud data, and each millimeter wave point cloud data includes a time stamp and motion parameters of a target object;

[0114] Please refer to S101, which will not be repeated here.

[0115] S303, obtaining a point cloud data frame of the laser radar scanned by the laser radar in the preset working area, each point cloud data frame comprising a plurality of laser radar point cloud data, each laser radar point cloud data comprising a timestamp and a spatial position coordinate of the target object;

[0116] See S102, which will not be repeated here.

[0117] S304, fusing the millimeter wave point cloud data and the laser radar point cloud data to obtain fused data;

[0118] See S103, which will not be repeated here.

[0119] S305, when the fused data indicates that the target object is in a motion state relative to the laser radar, calculating a relative speed difference of the target object relative to the laser radar according to the motion information of the target object in the fused data and the motion information of the laser radar; when the relative speed difference is greater than a speed difference threshold, calculating a pose compensation amount of the laser radar point cloud data according to the relative speed difference.

[0120] The relative speed difference comprises a horizontal relative speed difference and a vertical relative speed difference,

[0121] calculating a horizontal pose compensation amount of the laser radar point cloud data according to the horizontal relative speed difference of the target object relative to the laser radar;

[0122] calculating a vertical pose compensation amount of the laser radar point cloud data according to the vertical relative speed difference of the target object relative to the laser radar.

[0123] The relative speed difference comprises a relative angular speed difference and a relative linear speed difference;

[0124] when the relative angular speed difference is less than or equal to an angular speed threshold and the current linear speed difference is greater than a linear speed threshold, the pose compensation amount is a linear speed pose compensation amount; or

[0125] when the current relative angular speed difference is greater than an angular speed threshold and the current relative linear speed difference is less than or equal to a linear speed threshold, the pose compensation amount is an angular speed pose compensation amount; or

[0126] when the current relative angular speed difference is less than or equal to an angular speed threshold and the current linear speed difference is less than or equal to a linear speed threshold, no pose compensation is performed.

[0127] calculating a relative angular speed difference of the target object relative to the laser radar according to the motion information of the target object in the fused data and the motion information of the laser radar.

[0128] The fusion data includes the motion information of the target object and the motion information of the lidar, and the relative angular velocity difference of the target object relative to the lidar is calculated according to the motion information of the target object and the motion information of the lidar. The current angular velocity can be calculated according to a plurality of relative angular velocity differences. For example, the motion information of the target object and the motion information of the lidar are obtained, the average value of a plurality of relative angular velocity differences is calculated, and the average value of the plurality of relative angular velocity differences is taken as the current relative angular velocity difference. The way of calculating the average value of the plurality of relative angular velocity differences can be to calculate the arithmetic mean, the geometric mean or the weighted mean, which is not limited here.

[0129] The angular velocity threshold is the minimum angular velocity that needs to be compensated. The current angular velocity is calculated according to a plurality of angular velocities and the preset angular velocity threshold, and it is determined that the current angular velocity is greater than the angular velocity threshold.

[0130] The fusion data includes the motion information of the target object and the motion information of the lidar, and the relative linear velocity difference of the target object relative to the lidar is calculated according to the motion information of the target object and the motion information of the lidar. The current linear velocity can be calculated according to a plurality of relative linear velocity differences. For example, the motion information of the target object and the motion information of the lidar are obtained, the average value of a plurality of relative linear velocity differences is calculated, and the average value of the plurality of relative linear velocity differences is taken as the current relative linear velocity difference. The way of calculating the average value of the plurality of relative linear velocity differences can be to calculate the arithmetic mean, the geometric mean or the weighted mean, which is not limited here.

[0131] The linear velocity threshold is the minimum linear velocity that needs to be compensated. The current linear velocity difference is calculated according to a plurality of linear velocities and the preset linear velocity threshold, and it is determined that the current linear velocity difference is greater than the linear velocity threshold.

[0132] The angular velocity threshold and the linear velocity threshold can be determined according to actual needs. When the current angular velocity difference is small, the collected point cloud data frame will only be slightly distorted, which has little effect on the measurement result, and there is no need to correct the pose of the point cloud data frame. When the current linear velocity difference is small, the collected point cloud data frame will only be slightly distorted, which has little effect on the measurement result, and there is no need to correct the pose of the point cloud data frame. The present application corrects the pose of the point cloud data frame only when the current relative linear velocity difference of the lidar is greater than the linear velocity threshold or the current relative linear velocity difference is greater than the linear velocity threshold, so as to reduce the amount of calculation for correction.

[0133] In a case where the current relative angular velocity difference is less than or equal to the angular velocity threshold value, but the current relative linear velocity difference is likely to be greater than the linear velocity threshold value, the current relative linear velocity difference is the main factor of motion distortion, and in this case, the pose compensation quantity does not need to include the angular velocity pose compensation quantity, and the pose compensation quantity only includes the linear velocity pose compensation quantity.

[0134] In a case where the current relative linear velocity difference is less than or equal to the linear velocity threshold value, but the current relative angular velocity difference is likely to be greater than the angular velocity threshold value, the current relative angular velocity difference is the main factor of motion distortion, and in this case, the pose compensation quantity does not need to include the linear velocity pose compensation quantity, and the pose compensation quantity only includes the angular velocity pose compensation quantity.

[0135] In a case where the current relative angular velocity difference is less than or equal to the angular velocity threshold value, and the current relative linear velocity difference is less than or equal to the linear velocity threshold value, it is considered that the pose in the point cloud frame at this time has no distortion or the distortion can be ignored, and therefore it is considered that the laser radar point cloud data acquired by the laser radar has no motion distortion, and therefore the laser radar point cloud data does not need to be compensated.

[0136] It can be understood that the angular velocity threshold value and the linear velocity threshold value can be adjusted according to the scene in which the radar is located. For example, when the radar is in an environment with low scene complexity, because there are fewer objects in the environment, the required detection accuracy is relatively low, and the linear velocity threshold value and the angular velocity threshold value can be appropriately increased. When the radar is in an environment with high scene complexity, because there are more objects in the environment, the required detection accuracy is high, and the linear velocity threshold value and the angular velocity threshold value can be appropriately reduced.

[0137] It can be understood that the angular velocity threshold value and the linear velocity threshold value can be adjusted according to the actual compensation result accuracy.

[0138] S306, compensating the pose of the laser radar point cloud data based on the pose compensation quantity; wherein the laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers a preset working area.

[0139] In the embodiment of the present application, when the fusion data indicates that the target object is in a moving state relative to the laser radar, the relative speed difference of the target object relative to the laser radar is calculated according to the motion information of the target object in the fusion data and the motion information of the laser radar; when the relative speed difference is greater than a speed difference threshold, the pose compensation amount of the laser radar point cloud data is calculated according to the relative speed difference. When the current relative angular velocity difference is less than or equal to an angular velocity threshold, and the current linear velocity difference is less than or equal to a linear velocity threshold, no pose compensation is performed, thereby reducing the operation amount of point cloud correction. When the laser radar point cloud data obtained by scanning the laser radar is subject to motion distortion, the laser radar point cloud data that needs to be compensated is subjected to pose compensation, so as to obtain corrected laser radar point cloud data, thereby improving the accuracy and correctness of the detection result of the laser radar.

[0140] The following is an embodiment of the device of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0141] Please refer to Figure 7 which shows the structure of the point cloud motion compensation device provided by an exemplary embodiment of the present application. The point cloud motion compensation device can be realized by software, hardware or a combination of the two to become all or part of the terminal. The device 1 includes a first data acquisition module 11, a second data acquisition module 12, a data fusion module 13 and a pose compensation module 14.

[0142] The first data acquisition module 11 is configured to acquire millimeter wave radar point cloud data frames obtained by scanning the millimeter wave radar in the preset working area. Each millimeter wave point cloud data frame includes a plurality of millimeter wave point cloud data. Each millimeter wave point cloud data includes a timestamp and motion parameters of a target object.

[0143] The second data acquisition module 12 is configured to acquire laser radar point cloud data frames obtained by scanning the laser radar in the preset working area. Each point cloud data frame includes a plurality of laser radar point cloud data. Each laser radar point cloud data includes a timestamp and a spatial position coordinate of the target object.

[0144] The data fusion module 13 is configured to fuse the millimeter wave point cloud data and the laser radar point cloud data to obtain fusion data.

[0145] The pose compensation module 14 is configured to perform pose compensation on the laser radar point cloud data based on the fusion data.

[0146] The laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers the preset working area.

[0147] Optionally, as shown in Figure 8 The device 1 further comprises:

[0148] An extrinsic parameter calibration module 15, configured to calibrate extrinsic parameters of the millimeter wave radar and the laser radar and synchronize time of the millimeter wave radar and the laser radar.

[0149] Optionally, as shown in Figure 9 The pose compensation module 14 comprises:

[0150] A first pose compensation unit 141, configured to, when the fusion data indicates that the target object is in a moving state relative to the laser radar, calculate a pose compensation amount of the laser radar point cloud data according to a relative speed difference of the target object relative to the laser radar, and perform pose compensation on the laser radar point cloud data according to the pose compensation amount and a spatial position coordinate of the target object.

[0151] A second pose compensation unit 142, configured to, when the fusion data indicates that the target object is in a static state relative to the laser radar, not perform pose compensation on the laser radar point cloud data.

[0152] Optionally, as shown in Figure 10 The first pose compensation unit 141 comprises:

[0153] A speed difference calculation sub-unit 1411, configured to calculate the relative speed difference of the target object relative to the laser radar according to motion information of the target object in the fusion data and motion information of the laser radar.

[0154] A compensation amount calculation sub-unit 1412, configured to, when the relative speed difference is greater than a speed difference threshold, calculate the pose compensation amount of the laser radar point cloud data according to the relative speed difference.

[0155] Optionally, the compensation amount calculation sub-unit 1412 is specifically configured to:

[0156] when the current relative angular speed difference is less than or equal to an angular speed threshold and the current linear speed difference is greater than a linear speed threshold, the pose compensation amount is a linear speed pose compensation amount; or

[0157] when the current relative angular speed difference is greater than an angular speed threshold and the current relative linear speed difference is less than or equal to a linear speed threshold, the pose compensation amount is an angular speed pose compensation amount; or

[0158] when the current relative angular speed difference is less than or equal to an angular speed threshold and the current linear speed difference is less than or equal to a linear speed threshold, no pose compensation is performed.

[0159] Optionally, the relative speed difference includes a horizontal relative speed difference and a vertical relative speed difference, and the first pose compensation unit 141 includes:

[0160] The compensation amount calculation sub-unit 1413 is configured to calculate a horizontal pose compensation amount of the laser radar point cloud data according to the horizontal relative speed difference of the target object relative to the laser radar.

[0161] The compensation amount calculation sub-unit 1413 is further configured to calculate a vertical pose compensation amount of the laser radar point cloud data according to the vertical relative speed difference of the target object relative to the laser radar.

[0162] Optionally, the pose compensation module 14 further includes:

[0163] The fusion data clustering unit 143 is configured to cluster the fusion data.

[0164] The motion state judgment unit 144 is configured to judge the motion state of the target object relative to the laser radar according to the clustered fusion data.

[0165] In the embodiments of the present application, the extrinsic calibration and time synchronization of the millimeter wave radar and the laser radar can obtain the relative transformation relationship of the coordinate system corresponding to the laser radar relative to the coordinate system corresponding to the millimeter wave radar, which facilitates subsequent data fusion. When the fusion data indicates that the target object is in a motion state relative to the laser radar, the relative speed difference of the target object relative to the laser radar is calculated according to the motion information of the target object and the motion information of the laser radar in the fusion data. When the relative speed difference is greater than a speed difference threshold, the pose compensation amount of the laser radar point cloud data is calculated according to the relative speed difference. When the current relative angular speed difference is less than or equal to an angular speed threshold, and the current linear speed difference is less than or equal to a linear speed threshold, no pose compensation is performed, thereby reducing the computational load of point cloud correction. When the laser radar point cloud data obtained by scanning the laser radar is subject to motion distortion, the laser radar point cloud data that needs to be compensated is subjected to pose compensation, to obtain corrected laser radar point cloud data, thereby improving the accuracy and correctness of the detection result of the laser radar.

[0166] It should be noted that the point cloud motion compensation device provided in the above embodiments is only used as an example to illustrate the division of the above functional modules when the point cloud motion compensation method is executed. In actual applications, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above-described functions. In addition, the point cloud motion compensation device and the point cloud motion compensation method provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments, which will not be described here.

[0167] The above sequence numbers of the embodiments of the present application are only for description, and do not represent advantages or disadvantages of the embodiments.

[0168] The embodiment of the present application further provides a computer storage medium, which can store a plurality of instructions, the instructions being suitable for being loaded and executed by a processor to perform the method steps of the embodiments shown in the above Figures 2-6 The specific execution process can refer to the specific description of the embodiments shown in the above Figures 2-6 The specific execution process can refer to the specific description of the embodiments shown in the above

[0169] The present application further provides a laser radar, which stores at least one instruction, the at least one instruction being loaded and executed by the processor to perform the method steps of the embodiments shown in the above Figures 2-6 The specific execution process can refer to the specific description of the embodiments shown in the above Figures 2-6 The specific execution process can refer to the specific description of the embodiments shown in the above

[0170] Please refer to Figure 11 , which provides a structural schematic diagram of an electronic device. As shown in the above Figure 11 The mobile terminal 1000 can include at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.

[0171] The communication bus 1002 is used to realize the connection communication between the components.

[0172] The user interface 1003 can include a display screen (Display) and a camera (Camera), and the optional user interface 1003 can further include a standard wired interface and a wireless interface.

[0173] The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0174] The processor 1001 can include one or more processing cores. The processor 1001 connects various parts within the entire electronic device 1000 through various interfaces and lines, and performs various functions of the electronic device 1000 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Alternatively, the processor 1001 can be implemented in at least one of a hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA). The processor 1001 can integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes an operating system, a user interface, and an application program; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 1001, but can be realized by a separate chip.

[0175] The memory 1005 can include a random access memory (RAM) and can also include a read-only memory (ROM). Alternatively, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1005 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 1005 can alternatively be at least one storage device located away from the aforementioned processor 1001. As shown in the figure, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a motion compensation application of a point cloud. Figure 11

[0176] In Figure 11 ​In the mobile terminal 1000 shown, the user interface 1003 is mainly used to provide an interface for user input, and obtain data input by the user; and the processor 1001 can be used to call a motion compensation application program for generating point clouds stored in the memory 1005, and specifically perform the following operations:

[0177] obtain millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area, each millimeter wave point cloud data frame comprising a plurality of millimeter wave point cloud data; wherein each millimeter wave point cloud data comprises a time stamp and a motion parameter of a target object;

[0178] obtain point cloud data frames of the laser radar scanned by the laser radar in the preset working area, each point cloud data frame comprising a plurality of laser radar point cloud data, and each laser radar point cloud data comprising a time stamp and a spatial position coordinate of the target object;

[0179] fuse the millimeter wave point cloud data and the laser radar point cloud data to obtain fused data;

[0180] pose compensate the laser radar point cloud data based on the fused data;

[0181] wherein the laser radar and the millimeter wave radar have an overlapping scanning area, and the overlapping scanning area covers a preset working area.

[0182] In one embodiment, before performing the operation of obtaining the millimeter wave point cloud data frames scanned by the millimeter wave radar in the preset working area, the processor 1001 further performs the following operation:

[0183] perform extrinsic calibration and time synchronization on the millimeter wave radar and the laser radar.

[0184] In one embodiment, when performing the operation of pose compensating the laser radar point cloud data based on the fused data, the processor 1001 specifically performs the following operation:

[0185] when the fused data indicates that the target object is in a motion state relative to the laser radar, calculate a pose compensation amount of the laser radar point cloud data according to a relative speed difference of the target object relative to the laser radar; and pose compensate the laser radar point cloud data according to the pose compensation amount and the spatial position coordinate of the target object;

[0186] when the fused data indicates that the target object is in a stationary state relative to the laser radar, do not pose compensate the laser radar point cloud data.

[0187] In one embodiment, the processor 1001, when performing the operation of calculating the pose compensation amount of the laser radar point cloud data according to the relative velocity difference of the target object relative to the laser radar when the fusion data indicates that the target object is in a moving state relative to the laser radar, specifically performs the following operations:

[0188] calculating a relative velocity difference of the target object relative to the laser radar according to the motion information of the target object in the fusion data and the motion information of the laser radar;

[0189] when the relative velocity difference is greater than a velocity difference threshold, calculating the pose compensation amount of the laser radar point cloud data according to the relative velocity difference.

[0190] In one embodiment, the processor 1001, when performing the operation of calculating the pose compensation amount of the laser radar point cloud data according to the relative velocity difference when the relative velocity difference is greater than a velocity difference threshold, specifically performs the following operations:

[0191] the relative velocity difference includes a relative angular velocity difference and a relative linear velocity difference;

[0192] when the current relative angular velocity difference is less than or equal to an angular velocity threshold, and the current linear velocity difference is greater than a linear velocity threshold, the pose compensation amount is a linear velocity pose compensation amount; or

[0193] when the current relative angular velocity difference is greater than an angular velocity threshold, and the current relative linear velocity difference is less than or equal to a linear velocity threshold, the pose compensation amount is an angular velocity pose compensation amount; or

[0194] when the current relative angular velocity difference is less than or equal to an angular velocity threshold, and the current linear velocity difference is less than or equal to a linear velocity threshold, no pose compensation is performed.

[0195] In one embodiment, the processor 1001, when performing the operation of calculating the pose compensation amount of the laser radar point cloud data according to the relative velocity difference of the target object relative to the laser radar, specifically performs the following operations when the relative velocity difference includes a horizontal direction relative velocity difference and a vertical direction relative velocity difference:

[0196] calculating a horizontal pose compensation amount of the laser radar point cloud data according to the horizontal direction relative velocity difference of the target object relative to the laser radar;

[0197] calculating a vertical pose compensation amount of the laser radar point cloud data according to the vertical direction relative velocity difference of the target object relative to the laser radar.

[0198] In one embodiment, the processor 1001, when performing the operation of pose compensating the laser radar point cloud data, further performs the following operations:

[0199] cluster the fusion data;

[0200] determine a motion state of the target object relative to the laser radar according to the clustered fusion data.

[0201] In the embodiments of the present application, the millimeter wave radar and the laser radar are calibrated and time-synchronized, so that the relative transformation relationship of the coordinate system corresponding to the laser radar relative to the coordinate system corresponding to the millimeter wave radar is obtained, which facilitates subsequent data fusion. When the fusion data indicates that the target object is in a motion state relative to the laser radar, the relative speed difference of the target object relative to the laser radar is calculated according to the motion information of the target object and the motion information of the laser radar in the fusion data; when the relative speed difference is greater than a speed difference threshold, the pose compensation amount of the laser radar point cloud data is calculated according to the relative speed difference. When the current relative angular velocity difference is less than or equal to an angular velocity threshold, and the current linear velocity difference is less than or equal to a linear velocity threshold, no pose compensation is performed, thereby reducing the computational load of point cloud correction. When the laser radar point cloud data obtained by scanning the laser radar is subject to motion distortion, pose compensation is performed on the laser radar point cloud data that needs to be compensated, so that corrected laser radar point cloud data is obtained, thereby improving the accuracy and correctness of the detection results of the laser radar.

[0202] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, the processes of the above-mentioned embodiments can be included. The storage medium can be a magnetic disc, an optical disc, a read-only memory or a random access memory, etc.

[0203] The above only describes the preferred embodiments of the present application, and of course cannot limit the scope of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

1. A motion compensation method for point clouds, characterized in that, Applied to lidar, the method includes: The system acquires millimeter-wave point cloud data frames obtained by scanning a preset working area using a millimeter-wave radar. Each millimeter-wave point cloud data frame includes multiple millimeter-wave point cloud data. Each millimeter-wave point cloud data includes a timestamp and motion parameters of the target object. The motion parameters of the target object include the instantaneous velocity of the target object and the azimuth angle of the target object. The point cloud data frames of the lidar are obtained by scanning the preset working area. Each point cloud data frame includes multiple lidar point cloud data, and each lidar point cloud data includes a timestamp and the spatial position coordinates of the target object. The millimeter-wave point cloud data is fused with the lidar point cloud data to obtain fused data, which includes the instantaneous velocity and azimuth information of the target object. Pose compensation is performed on the lidar point cloud data based on the fused data. The lidar and the millimeter-wave radar have an overlapping scanning area, and the overlapping scanning area covers a preset working area; The step of performing pose compensation on the lidar point cloud data based on fused data includes: When the fused data indicates that the target object is in motion relative to the lidar, the pose compensation amount of the point cloud data is calculated based on the relative velocity difference between the target object and the lidar; the pose compensation of the lidar point cloud data is performed based on the pose compensation amount and the spatial position coordinates of the target object. The state of the target object relative to the lidar is determined based on the instantaneous velocity of the target object and the velocity of the lidar carrier itself. Wherein, when the fused data indicates that the target object is in motion relative to the lidar, calculating the pose compensation amount of the lidar point cloud data based on the relative velocity difference between the target object and the lidar includes: The relative velocity difference between the target object and the lidar is calculated based on the motion parameter information of the target object in the fused data and the motion parameter information of the lidar. The relative velocity difference includes the relative angular velocity difference and the relative linear velocity difference. When the relative angular velocity difference is less than or equal to the angular velocity threshold, and the current linear velocity difference is greater than the linear velocity threshold, the pose compensation amount is the linear velocity pose compensation amount; or, when the current relative angular velocity difference is greater than the angular velocity threshold, and the current relative linear velocity difference is less than or equal to the linear velocity threshold, the pose compensation amount is the angular velocity pose compensation amount; or, when the current relative angular velocity difference is less than or equal to the angular velocity threshold, and the current linear velocity difference is less than or equal to the linear velocity threshold, no pose compensation is performed.

2. The method according to claim 1, characterized in that, Before acquiring the millimeter-wave point cloud data frame obtained by the millimeter-wave radar scanning the preset working area, the method further includes: External parameter calibration and time synchronization are performed on the millimeter-wave radar and the lidar.

3. The method according to claim 1, characterized in that, The pose compensation of the lidar point cloud data based on fused data further includes: When the fused data indicates that the target object is stationary relative to the lidar, no pose compensation is performed on the lidar point cloud data.

4. The method according to claim 1, characterized in that, The relative velocity difference includes a horizontal relative velocity difference and a vertical relative velocity difference. The calculation of the pose compensation amount of the lidar point cloud data based on the relative velocity difference between the target object and the lidar includes: The horizontal pose compensation amount of the lidar point cloud data is calculated based on the relative velocity difference between the target object and the lidar in the horizontal direction. The vertical pose compensation amount of the lidar point cloud data is calculated based on the relative velocity difference between the target object and the lidar in the vertical direction.

5. The method according to claim 1, characterized in that, Before performing pose compensation on the lidar point cloud data, the method further includes: Cluster the fused data; The motion state of the target object relative to the lidar is determined based on the fused data after clustering.

6. A motion compensation device for point clouds, characterized in that, The device, used in lidar, includes: The first data acquisition module is used to acquire millimeter-wave point cloud data frames obtained by the millimeter-wave radar scanning in a preset working area. Each millimeter-wave point cloud data frame includes multiple millimeter-wave point cloud data. Each millimeter-wave point cloud data includes a timestamp and motion parameters of the target object. The motion parameters of the target object include the instantaneous velocity of the target object and the azimuth angle of the target object. The second data acquisition module is used to acquire point cloud data frames of the lidar obtained by the lidar scanning in the preset working area. Each point cloud data frame includes multiple lidar point cloud data, and each lidar point cloud data includes a timestamp and the spatial position coordinates of the target object. The data fusion module is used to fuse the millimeter-wave point cloud data with the lidar point cloud data to obtain fused data, which includes the instantaneous velocity and azimuth information of the target object. The pose compensation module is used to perform pose compensation on the lidar point cloud data based on the fused data. The lidar and the millimeter-wave radar have an overlapping scanning area, and the overlapping scanning area covers a preset working area; Specifically, the pose compensation module is used for: When the fused data indicates that the target object is in motion relative to the lidar, the pose compensation amount of the point cloud data is calculated based on the relative velocity difference between the target object and the lidar; the pose compensation of the lidar point cloud data is performed based on the pose compensation amount and the spatial position coordinates of the target object. The state of the target object relative to the lidar is determined based on the instantaneous velocity of the target object and the velocity of the lidar carrier itself. Specifically, the pose compensation module is also used for: The relative velocity difference between the target object and the lidar is calculated based on the motion parameter information of the target object in the fused data and the motion parameter information of the lidar. The relative velocity difference includes the relative angular velocity difference and the relative linear velocity difference. When the relative angular velocity difference is less than or equal to the angular velocity threshold, and the current linear velocity difference is greater than the linear velocity threshold, the pose compensation amount is the linear velocity pose compensation amount; or, when the current relative angular velocity difference is greater than the angular velocity threshold, and the current relative linear velocity difference is less than or equal to the linear velocity threshold, the pose compensation amount is the angular velocity pose compensation amount; or, when the current relative angular velocity difference is less than or equal to the angular velocity threshold, and the current linear velocity difference is less than or equal to the linear velocity threshold, no pose compensation is performed.

7. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the method steps as claimed in any one of claims 1-5.

8. A lidar, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the method steps as claimed in any one of claims 1-5.

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