A data compression and restoration transmission method, system and storage medium of a laser radar

Abstract

The application discloses a kind of data compression of laser radar and restores transmission method, system and storage medium, wherein the method comprises: obtaining laser radar original data information;Laser radar original data is deburred and fitted, and filtered laser radar data information is obtained;The filtered laser radar data is compressed and packet processing, and the data information of compression processing is obtained;Compressed data is sent to receiving end;Receiving end sends compressed data to preset restoration algorithm, and obtains laser radar restoration data.The application is compressed by special compression processing algorithm, not only the smooth operation of radar original data, and greatly compressed the transmission memory size of data, improve transmission efficiency, reduce the transmission load of controller.

Description

Technical Field

[0001] This invention relates to the field of data transmission processing for lidar, and more specifically, to a method, system, and storage medium for data compression, restoration, and transmission of lidar. Background Technology

[0002] LiDAR (Lidar) is an advanced detection method combining laser technology and modern optoelectronic detection technology. It consists of a transmitting system, a receiving system, and information processing components. LiDAR uses visible and near-infrared light to emit a signal, which is reflected by the target and collected by the receiving system. The distance to the target is determined by measuring the travel time of the reflected light. Furthermore, the radial velocity of the target can be determined by the Doppler frequency shift of the reflected light. Because LiDAR uses a laser beam, its operating frequency is much higher than that of microwaves, giving it many advantages such as high resolution, good concealment, strong resistance to active interference, good low-altitude detection performance, small size, and light weight. Due to these advantages, LiDAR is widely used in resource exploration, urban planning, water conservancy projects, environmental monitoring, transportation and communication, earthquake disaster prevention and mitigation, and key national construction projects, providing extremely important research data for national economic and social development and scientific research. However, LiDAR transmits a large amount of data per frame; even single-line LiDAR transmits over a thousand bytes per frame. This data volume represents a significant overhead for controllers with limited processing power and greatly increases the latency of LiDAR data transmission.

[0003] Therefore, existing technologies have shortcomings and urgently need improvement. Summary of the Invention

[0004] In view of the above problems, the purpose of this invention is to provide a data compression, restoration, and transmission method, system, and storage medium for lidar, which can compress lidar data without distortion during transmission, transmit the compressed data, and restore the data after transmission, thereby greatly reducing the amount of data during transmission, improving the processing speed of the controller, and ensuring the timeliness of the data.

[0005] The first aspect of this invention provides a data compression, restoration, and transmission method for lidar, comprising:

[0006] Obtain raw data information from the lidar;

[0007] The raw lidar data is de-duplicated and fitted to obtain filtered lidar data information.

[0008] The filtered lidar data is compressed and encapsulated to obtain compressed data information.

[0009] The compressed data is sent to the receiving end;

[0010] The receiving end sends the compressed data to the preset restoration algorithm to obtain the restored LiDAR data.

[0011] This plan also includes:

[0012] The raw data from the lidar is sent to a preset first coordinate system, and the reconstructed data from the lidar is sent to a preset second coordinate system.

[0013] Set the interval angle used by the lidar as the x-axis and the actual radar ranging as the y-axis;

[0014] Set the preset first coordinate system and the preset second coordinate system to the same coordinate system.

[0015] In this solution, the formulas for de-scratching and fitting the raw lidar data are as follows:

[0016] y = k a *x+f a

[0017] Where 'a' represents the radar data segment number, 'x' represents the radar sampling interval angle value, 'y' represents the actual radar ranging value, and 'k' represents the radar range value. a and f a The parameter represents the radar data numbered 'a'.

[0018] In this solution, the method for de-scratching and fitting the raw lidar data is as follows:

[0019] Obtain the coordinate point information of the raw LiDAR data;

[0020] Based on the coordinates of the original LiDAR data and the formula for deburring and fitting the original LiDAR data, the distance from the corresponding coordinates of the original LiDAR data to the formula for deburring and fitting the original LiDAR data is obtained.

[0021] Determine whether the distance is greater than a preset distance threshold. If it is, delete the item; otherwise, perform fitting.

[0022] In this solution, the step of generating the compressed data specifically includes:

[0023] The filtered lidar data is then tested and counted, denoted as L. a ;

[0024] Set the header of the filtered LiDAR data segment to X. a The tail is set to XE a ;

[0025] Based on the number of filtered LiDAR data segments, the header and tail of each data segment, and the parameters of the corresponding data segment, the data for the compression processing stage (L) is obtained. a X a XE a k a f a ).

[0026] This plan also includes:

[0027] Obtain the number of compressed data received by the receiving end;

[0028] The system determines whether the number of compressed data segments received by the receiver matches the count of filtered LiDAR data segments. If they match, the receiver has received all the data; otherwise, the LiDAR data segments have not been fully received or there is an anomaly.

[0029] A second aspect of the present invention provides a data compression and restoration transmission system for lidar, comprising a memory and a processor. The memory stores a data compression and restoration transmission method program for lidar, which, when executed by the processor, performs the following steps:

[0030] Obtain raw data information from the lidar;

[0031] The raw lidar data is de-duplicated and fitted to obtain filtered lidar data information.

[0032] The filtered lidar data is compressed and encapsulated to obtain compressed data information.

[0033] The compressed data is sent to the receiving end;

[0034] The receiving end sends the compressed data to the preset restoration algorithm to obtain the restored LiDAR data.

[0035] This plan also includes:

[0036] The raw data from the lidar is sent to a preset first coordinate system, and the reconstructed data from the lidar is sent to a preset second coordinate system.

[0037] Set the interval angle used by the lidar as the x-axis and the actual radar ranging as the y-axis;

[0038] Set the preset first coordinate system and the preset second coordinate system to the same coordinate system.

[0039] In this solution, the formulas for de-scratching and fitting the raw lidar data are as follows:

[0040] y = ka *x+f a

[0041] Where 'a' represents the radar data segment number, 'x' represents the radar sampling interval angle value, 'y' represents the actual radar ranging value, and 'k' represents the radar range value. a and f a The parameter represents the radar data numbered 'a'.

[0042] In this solution, the method for de-scratching and fitting the raw lidar data is as follows:

[0043] Obtain the coordinate point information of the raw LiDAR data;

[0044] Based on the coordinates of the original LiDAR data and the formula for deburring and fitting the original LiDAR data, the distance from the corresponding coordinates of the original LiDAR data to the formula for deburring and fitting the original LiDAR data is obtained.

[0045] Determine whether the distance is greater than a preset distance threshold. If it is, delete the item; otherwise, perform fitting.

[0046] In this solution, the step of generating the compressed data specifically includes:

[0047] The filtered lidar data is then tested and counted, denoted as L. a ;

[0048] Set the header of the filtered LiDAR data segment to X. a The tail is set to XE a ;

[0049] Based on the number of filtered LiDAR data segments, the header and tail of each data segment, and the parameters of the corresponding data segment, the data for the compression processing stage (L) is obtained. a X a XE a k a f a ).

[0050] This plan also includes:

[0051] Obtain the number of compressed data received by the receiving end;

[0052] The system determines whether the number of compressed data segments received by the receiver matches the count of filtered LiDAR data segments. If they match, the receiver has received all the data; otherwise, the LiDAR data segments have not been fully received or there is an anomaly.

[0053] A third aspect of the present invention provides a computer storage medium storing a data compression and restoration transmission method program for a lidar, wherein when the lidar data compression and restoration transmission method program is executed by a processor, it implements the steps of the lidar data compression and restoration transmission method as described in any of the preceding claims.

[0054] This invention discloses a data compression, restoration, and transmission method, system, and storage medium for lidar. Through a special compression algorithm, it not only smooths the raw lidar data but also significantly reduces the data transmission memory size, improving transmission efficiency and reducing the transmission load on the controller. Simultaneously, when processing each frame of data, the restoration algorithm allows for rapid data restoration without consuming excessive memory, thus improving operating efficiency and memory space utilization. Attached Figure Description

[0055] Figure 1 A flowchart of a data compression, restoration, and transmission method for lidar according to the present invention is shown;

[0056] Figure 2 A schematic diagram of the raw data from the lidar is shown;

[0057] Figure 3 A schematic diagram of the deburred and fitted lidar data is shown;

[0058] Figure 4 This shows a schematic diagram of the deburred and fitted lidar data after compression processing;

[0059] Figure 5 A schematic diagram of the restored radar data is shown;

[0060] Figure 6 A block diagram of a lidar data compression, restoration, and transmission system according to the present invention is shown. Detailed Implementation

[0061] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0062] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0063] Figure 1 A flowchart of a data compression, restoration, and transmission method for lidar according to the present invention is shown.

[0064] like Figure 1 As shown, the present invention discloses a data compression, restoration, and transmission method for lidar, comprising:

[0065] S102, Obtain raw data information from the lidar;

[0066] S104, De-scratching and fitting are performed on the raw lidar data to obtain filtered lidar data information;

[0067] S106, The filtered lidar data is compressed and encapsulated to obtain compressed data information;

[0068] S108, send the compressed data to the receiving end;

[0069] S110, the receiving end sends the compressed data to the preset restoration algorithm to obtain the restored data of the lidar.

[0070] It should be noted that the embodiments of the present invention are divided into four stages. The first stage is data processing, in which the raw LiDAR data is acquired and abnormal data is filtered out through de-glueing and fitting operations. The abnormal data deviates from the linear formula of the normal data. The second stage is data compression, in which the filtered LiDAR data is compressed and encapsulated to obtain compressed data information. The data status of the compression stage is displayed as (L a X a XE a k a f a The third stage is data transmission, which involves transmitting the processed data via communication. The data type for transmission is [(L1, X1, XE1, k1, f1), (L2, X2, XE2, k2, f2), ..., (L... a X a XE a k a f a The fourth stage is data restoration, which involves inputting parameters (L) using the linear formula from the first stage. a X a XE a k a f a Real-time calculations are performed to obtain the restored lidar data, which is the filtered lidar data.

[0071] According to an embodiment of the present invention, it further includes:

[0072] The raw data from the lidar is sent to a preset first coordinate system, and the reconstructed data from the lidar is sent to a preset second coordinate system.

[0073] Set the interval angle used by the lidar as the x-axis and the actual radar ranging as the y-axis;

[0074] Set the preset first coordinate system and the preset second coordinate system to the same coordinate system.

[0075] It should be noted that in the preset first coordinate system and the preset second coordinate system, the x-axis records the interval angle value used by the lidar, and the y-axis records the actual radar ranging value. The scale intervals of the x-axis and y-axis are determined based on the actual interval angle value used by the lidar and the actual radar ranging value. The preset first coordinate system and the preset second coordinate system are set as the same coordinate system, with the same origin position, and the same direction and scale values ​​for the x-axis and y-axis.

[0076] According to an embodiment of the present invention, the formula for de-scratching and fitting the raw lidar data is as follows:

[0077] y = k a *x+f a

[0078] Where 'a' represents the radar data segment number, 'x' represents the radar sampling interval angle value, 'y' represents the actual radar ranging value, and 'k' represents the radar range value. a and f a The parameter represents the radar data numbered 'a'.

[0079] It should be noted that the coordinates of the extracted and filtered LiDAR data in the preset first coordinate system are: (x a-1 y a-1 ), (x a-2 y a-2 ), …(x a-n y a-n ), where x a-n This represents the interval angle value used by the lidar in the nth data point within lidar data segment numbered 'a'. a-n Let 'a' represent the actual radar ranging value of the nth data point in the lidar data segment numbered 'a'. By combining any two data points and applying the de-straining and fitting formulas, a system of two linear equations in two variables can be formed to obtain 'k'. a and f a Different values ​​of are used to obtain the fitting error value W through a preset least squares method, and the minimum value W among the fitting error values ​​is extracted. min The minimum value W among the fitting error values min It is compared with a preset fitting error threshold W0, where if W min If W ≤ W0, it means that the corresponding fitting error value meets the requirements. The minimum fitting error value W is then selected. min The corresponding k a and fa Let W be the parameter of the radar data in data segment a; if W min If W0 is greater than the required value, the corresponding fitting error value is not met. Therefore, the data segment a is divided into two segments and the calculation is performed again.

[0080] According to an embodiment of the present invention, the method for de-scratching and fitting the raw lidar data is specifically as follows:

[0081] Obtain the coordinate point information of the raw LiDAR data;

[0082] Based on the coordinates of the original LiDAR data and the formula for deburring and fitting the original LiDAR data, the distance from the corresponding coordinates of the original LiDAR data to the formula for deburring and fitting the original LiDAR data is obtained.

[0083] Determine whether the distance is greater than a preset distance threshold. If it is, delete the item; otherwise, perform fitting.

[0084] It should be noted that, based on the formula for the distance from a point to a line, the distance d from the coordinate point of the original LiDAR data to the formula for de-scratching and fitting the original LiDAR data is obtained. The preset distance threshold is set to d0. If d>d0, it means that the corresponding original LiDAR data has glitch and needs to be deleted; if d≤d0, it means that the corresponding original LiDAR data is normal data, and the original LiDAR data is fitted to the corresponding LiDAR data segment.

[0085] According to an embodiment of the present invention, the step of generating the compressed data specifically includes:

[0086] The filtered lidar data is then tested and counted, denoted as L. a ;

[0087] Set the header of the filtered LiDAR data segment to X. a The tail is set to XE a ;

[0088] Based on the number of filtered LiDAR data segments, the header and tail of each data segment, and the parameters of the corresponding data segment, the data for the compression processing stage (L) is obtained. a X a XE a k a f a ).

[0089] It should be noted that if the number of the LiDAR data segment is 1, then the header of the corresponding LiDAR data segment is X1 and the tail is XE1. The header and tail of the LiDAR data segment numbered 1 are extracted and then compressed to obtain the compressed data (L1, X1, XE1, k1, f1) of the LiDAR data segment numbered 1.

[0090] According to an embodiment of the present invention, it further includes:

[0091] Obtain the number of compressed data received by the receiving end;

[0092] The system determines whether the number of compressed data segments received by the receiver matches the count of filtered LiDAR data segments. If they match, the receiver has received all the data; otherwise, the LiDAR data segments have not been fully received or there is an anomaly.

[0093] It should be noted that the number of compressed data received by the receiver is set to m, and the number of filtered LiDAR data is set to L. a If m = L a This indicates that the receiving end has received all the data; if m <L a This indicates that the lidar data segment has not been fully received; if m > L a If the count is abnormal, it indicates that the count of the filtered lidar data is abnormal and needs to be rechecked and recounted.

[0094] According to an embodiment of the present invention, it further includes:

[0095] Obtain the reception time t1 information of the compressed data segment received by the receiving end;

[0096] Obtain information on unreceived compressed data segments within time t2;

[0097] The time difference is obtained by calculating the difference between time t2 and time t1.

[0098] Determine whether the time difference is greater than a preset time threshold. If it is, trigger a prompt message; otherwise, do not trigger a prompt message.

[0099] It should be noted that when a compressed data segment is received by the receiving end, it indicates that other compressed data segments will soon be received as well. If there are still unreceived compressed data segments after a preset time threshold, it indicates that the corresponding compressed data segment may be interfered with or have other abnormalities. If the preset time threshold is t0, then t2-t1≤t0 indicates that the compressed data segment is transmitting normally; otherwise, it is an abnormality, and a prompt message will be triggered.

[0100] According to an embodiment of the present invention, it further includes:

[0101] The lidar data is numbered according to a preset rule, and the numbered data is displayed according to a preset color;

[0102] Color information from LiDAR data is obtained by using a preset color scanning sensor;

[0103] Determine whether the color of the LiDAR data matches the preset color. If it does, it means that all LiDAR data has been numbered; otherwise, trigger a prompt.

[0104] It should be noted that the numbered LiDAR data is set to a lighter color to highlight the unnumbered LiDAR data. The numbering rules for the LiDARs are compiled according to the actual situation, such as a numbering order from left to right or from top to bottom. If the color of LiDAR data differs from the preset color, the corresponding LiDAR data segment with the different color will be displayed, for example, by flashing an indicator light.

[0105] Figure 2 A schematic diagram of the raw data from the lidar is shown;

[0106] Figure 3 A schematic diagram of the deburred and fitted lidar data is shown;

[0107] Figure 4 This shows a schematic diagram of the deburred and fitted lidar data after compression processing;

[0108] Figure 5 A schematic diagram of the restored radar data is shown.

[0109] like Figure 2-5 As shown in Figure 2-5, schematic diagrams of LiDAR data at each stage are presented. The diagrams illustrate the changes in the raw LiDAR data during the deburring and fitting process, the compression process, and the data restoration process.

[0110] Figure 6 A block diagram of a lidar data compression, restoration, and transmission system according to the present invention is shown.

[0111] like Figure 6 As shown, a second aspect of the present invention provides a data compression and restoration transmission system 6 for a lidar, comprising a memory 61 and a processor 62. The memory stores a data compression and restoration transmission method program for a lidar, which, when executed by the processor, performs the following steps:

[0112] Obtain raw data information from the lidar;

[0113] The raw lidar data is de-duplicated and fitted to obtain filtered lidar data information.

[0114] The filtered lidar data is compressed and encapsulated to obtain compressed data information.

[0115] The compressed data is sent to the receiving end;

[0116] The receiving end sends the compressed data to the preset restoration algorithm to obtain the restored LiDAR data.

[0117] It should be noted that the embodiments of the present invention are divided into four stages. The first stage is data processing, in which the raw LiDAR data is acquired and abnormal data is filtered out through de-glueing and fitting operations. The abnormal data deviates from the linear formula of the normal data. The second stage is data compression, in which the filtered LiDAR data is compressed and encapsulated to obtain compressed data information. The data status of the compression stage is displayed as (L a X a XE a k a f a The third stage is data transmission, which involves transmitting the processed data via communication. The data type for transmission is [(L1, X1, XE1, k1, f1), (L2, X2, XE2, k2, f2), ..., (L... a X a XE a k a f a The fourth stage is data restoration, which involves inputting parameters (L) using the linear formula from the first stage. a X a XE a k a f a Real-time calculations are performed to obtain the restored lidar data, which is the filtered lidar data.

[0118] According to an embodiment of the present invention, it further includes:

[0119] The raw data from the lidar is sent to a preset first coordinate system, and the reconstructed data from the lidar is sent to a preset second coordinate system.

[0120] Set the interval angle used by the lidar as the x-axis and the actual radar ranging as the y-axis;

[0121] Set the preset first coordinate system and the preset second coordinate system to the same coordinate system.

[0122] It should be noted that in the preset first coordinate system and the preset second coordinate system, the x-axis records the interval angle value used by the lidar, and the y-axis records the actual radar ranging value. The scale intervals of the x-axis and y-axis are determined based on the actual interval angle value used by the lidar and the actual radar ranging value. The preset first coordinate system and the preset second coordinate system are set as the same coordinate system, with the same origin position, and the same direction and scale values ​​for the x-axis and y-axis.

[0123] According to an embodiment of the present invention, the formula for de-scratching and fitting the raw lidar data is as follows:

[0124] y = k a *x+f a

[0125] Where 'a' represents the radar data segment number, 'x' represents the radar sampling interval angle value, 'y' represents the actual radar ranging value, and 'k' represents the radar range value. a and f a The parameter represents the radar data numbered 'a'.

[0126] It should be noted that the coordinates of the extracted and filtered LiDAR data in the preset first coordinate system are: (x a-1 y a-1 ), (x a-2 y a-2 ), …(x a-n y a-n ), where x a-n This represents the interval angle value used by the lidar in the nth data point within lidar data segment numbered 'a'. a-n Let 'a' represent the actual radar ranging value of the nth data point in the lidar data segment numbered 'a'. By combining any two data points and applying the de-straining and fitting formulas, a system of two linear equations in two variables can be formed to obtain 'k'. a and f a Different values ​​of are used to obtain the fitting error value W through a preset least squares method, and the minimum value W among the fitting error values ​​is extracted. min The minimum value W among the fitting error values min It is compared with a preset fitting error threshold W0, where if W min If W ≤ W0, it means that the corresponding fitting error value meets the requirements. The minimum fitting error value W is then selected. min The corresponding k a and f a Let W be the parameter of the radar data in data segment a; if W min If W0 is greater than the required value, the corresponding fitting error value is not met. Therefore, the data segment a is divided into two segments and the calculation is performed again.

[0127] According to an embodiment of the present invention, the method for de-scratching and fitting the raw lidar data is specifically as follows:

[0128] Obtain the coordinate point information of the raw LiDAR data;

[0129] Based on the coordinates of the original LiDAR data and the formula for deburring and fitting the original LiDAR data, the distance from the corresponding coordinates of the original LiDAR data to the formula for deburring and fitting the original LiDAR data is obtained.

[0130] Determine whether the distance is greater than a preset distance threshold. If it is, delete the item; otherwise, perform fitting.

[0131] It should be noted that, based on the formula for the distance from a point to a line, the distance d from the coordinate point of the original LiDAR data to the formula for de-scratching and fitting the original LiDAR data is obtained. The preset distance threshold is set to d0. If d>d0, it means that the corresponding original LiDAR data has glitch and needs to be deleted; if d≤d0, it means that the corresponding original LiDAR data is normal data, and the original LiDAR data is fitted to the corresponding LiDAR data segment.

[0132] According to an embodiment of the present invention, the data generation step in the compression processing stage specifically includes:

[0133] The filtered lidar data is then tested and counted, denoted as L. a ;

[0134] Set the header of the filtered LiDAR data segment to X. a The tail is set to XE a ;

[0135] Based on the number of filtered LiDAR data segments, the header and tail of each data segment, and the parameters of the corresponding data segment, the data for the compression processing stage (L) is obtained. a X a XE a k a f a ).

[0136] It should be noted that if the number of the LiDAR data segment is 1, then the header of the corresponding LiDAR data segment is X1 and the tail is XE1. The header and tail of the LiDAR data segment numbered 1 are extracted and then compressed to obtain the compressed data (L1, X1, XE1, k1, f1) of the LiDAR data segment numbered 1.

[0137] According to an embodiment of the present invention, it further includes:

[0138] Obtain the number of data items received by the receiving end during the compression processing stage;

[0139] The system determines whether the number of data segments received by the receiver in the compression processing stage matches the count of the filtered LiDAR data. If they match, the receiver has received all the data; otherwise, the LiDAR data segments have not been fully received or there is an anomaly.

[0140] It should be noted that the number of data points received by the receiver during the compression process is set to m, and the number of filtered LiDAR data points is set to L. a If m = L a This indicates that the receiving end has received all the data; if m <L a This indicates that the lidar data segment has not been fully received; if m > L a If the count is abnormal, it indicates that the count of the filtered lidar data is abnormal and needs to be rechecked and recounted.

[0141] According to an embodiment of the present invention, it further includes:

[0142] The lidar data is numbered according to a preset rule, and the numbered data is displayed according to a preset color;

[0143] Color information from LiDAR data is obtained by using a preset color scanning sensor;

[0144] Determine whether the color of the LiDAR data matches the preset color. If it does, it means that all LiDAR data has been numbered; otherwise, trigger a prompt.

[0145] It should be noted that the numbered LiDAR data is set to a lighter color to highlight the unnumbered LiDAR data. The numbering rules for the LiDARs are compiled according to the actual situation, such as a numbering order from left to right or from top to bottom. If the color of LiDAR data differs from the preset color, the corresponding LiDAR data segment with the different color will be displayed, for example, by flashing an indicator light.

[0146] A third aspect of the present invention provides a computer storage medium storing a data compression and restoration transmission method program for a lidar, wherein when the lidar data compression and restoration transmission method program is executed by a processor, it implements the steps of the lidar data compression and restoration transmission method as described in any of the preceding claims.

[0147] This invention discloses a data compression, restoration, and transmission method, system, and storage medium for lidar. The method includes: acquiring raw lidar data; de-glueing and fitting the raw lidar data to obtain filtered lidar data; compressing and encapsulating the filtered lidar data to obtain compressed data; sending the compressed data to a receiving end; and sending the compressed data to a preset restoration algorithm at the receiving end to obtain restored lidar data. This invention, through a special compression algorithm, not only smooths the raw lidar data but also significantly reduces the data transmission memory size, improving transmission efficiency and reducing the transmission load on the controller. Furthermore, when processing each frame of data, the restoration algorithm can quickly restore the data without consuming excessive memory, improving operating efficiency and memory space utilization.

[0148] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0149] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0150] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0151] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0152] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for data compression, reconstruction, and transmission of a lidar system, characterized in that, include: Obtain raw data information from the lidar; The raw lidar data is de-duplicated and fitted to obtain filtered lidar data information. The filtered lidar data is compressed and encapsulated to obtain compressed data information. The compressed data is sent to the receiving end; The receiving end sends the compressed data to the preset restoration algorithm to obtain the restored LiDAR data; Obtain the number of compressed data received by the receiving end; The system determines whether the number of compressed data received by the receiver is consistent with the count of filtered LiDAR data. If they are consistent, then the receiver has received all of the data. Otherwise, the lidar data segment may not have been fully received or there may be an anomaly. Obtain the reception time t1 information of the compressed data segment received by the receiving end; Get in There are still unreceived compressed data segments within the time frame; Will The time difference is calculated by taking the difference between time t1 and time t2. Determine whether the time difference is greater than a preset time threshold. If it is, trigger a prompt message; otherwise, do not trigger a prompt message. The lidar data is numbered according to a preset rule, and the numbered data is displayed according to a preset color; Color information from LiDAR data is obtained by using a preset color scanning sensor; Determine whether the color of the LiDAR data matches the preset color. If it does, it means that all LiDAR data has been numbered; otherwise, trigger a prompt.

2. The data compression, restoration, and transmission method for lidar according to claim 1, characterized in that, Also includes: The raw data from the lidar is sent to a preset first coordinate system, and the reconstructed data from the lidar is sent to a preset second coordinate system. Set the interval angle used by the lidar as the x-axis and the actual radar ranging as the y-axis; Set the preset first coordinate system and the preset second coordinate system to the same coordinate system.

3. The data compression, restoration, and transmission method for lidar according to claim 1, characterized in that, The formulas for de-aliasing and fitting the raw lidar data are as follows: ； in This represents the segment number of the radar data. This represents the angle value of the radar sampling interval. This represents the actual radar ranging value. and Indicates the number is The parameters of the radar data.

4. The data compression, restoration, and transmission method for lidar according to claim 1, characterized in that, The method for deburring and fitting the raw lidar data specifically involves: obtaining the coordinate point information of the raw lidar data. Based on the coordinates of the original LiDAR data and the formula for deburring and fitting the original LiDAR data, the distance from the corresponding coordinates of the original LiDAR data to the formula for deburring and fitting the original LiDAR data is obtained. Determine whether the distance is greater than a preset distance threshold. If it is, delete the item; otherwise, perform fitting.

5. The data compression, restoration, and transmission method for lidar according to claim 1, characterized in that, The steps for generating the compressed data specifically include: The filtered lidar data is then tested and counted, and set as follows: ; Set the header of the filtered LiDAR data segment to... The tail is set as ; Based on the number of filtered LiDAR data segments, the header and tail of each data segment, and the parameters of the corresponding data segment, the data for the compression processing stage is obtained. , , , , ).

6. A data compression, restoration, and transmission system for lidar, characterized in that, The system includes a memory and a processor. The memory stores a data compression, restoration, and transmission method program for a lidar. When the processor executes the data compression, restoration, and transmission method program for a lidar, it performs the following steps: acquiring the original data information of the lidar. The raw lidar data is de-duplicated and fitted to obtain filtered lidar data information. The filtered lidar data is compressed and encapsulated to obtain compressed data information. The compressed data is sent to the receiving end; The receiving end sends the compressed data to the preset restoration algorithm to obtain the restored LiDAR data; Obtain the number of compressed data received by the receiving end; The system determines whether the number of compressed data received by the receiver is consistent with the count of filtered LiDAR data. If they are consistent, then the receiver has received all of the data. Otherwise, the lidar data segment may not have been fully received or there may be an anomaly. Obtain the reception time t1 information of the compressed data segment received by the receiving end; Get in There are still unreceived compressed data segments within the time frame; Will The time difference is calculated by taking the difference between time t1 and time t2. Determine whether the time difference is greater than a preset time threshold. If it is, trigger a prompt message; otherwise, do not trigger a prompt message. The lidar data is numbered according to a preset rule, and the numbered data is displayed according to a preset color; Color information from LiDAR data is obtained by using a preset color scanning sensor; Determine whether the color of the LiDAR data matches the preset color. If it does, it means that all LiDAR data has been numbered; otherwise, trigger a prompt.

7. A data compression, restoration, and transmission system for lidar according to claim 6, characterized in that, Also includes: The raw data from the lidar is sent to a preset first coordinate system, and the reconstructed data from the lidar is sent to a preset second coordinate system. Set the interval angle used by the lidar as the x-axis and the actual radar ranging as the y-axis; Set the preset first coordinate system and the preset second coordinate system to the same coordinate system.

8. A data compression, restoration, and transmission system for lidar according to claim 6, characterized in that, The formulas for de-aliasing and fitting the raw lidar data are as follows: ； in This represents the segment number of the radar data. This represents the angle value of the radar sampling interval. This represents the actual radar ranging value. and Indicates the number is The parameters of the radar data.

9. A computer storage medium, characterized in that, The computer-readable storage medium stores a data compression and restoration transmission method program for a lidar, which, when executed by a processor, implements the steps of the data compression and restoration transmission method for a lidar as described in any one of claims 1 to 5.

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