Method, device and equipment for acquiring remote point cloud data and storage medium

By using the pose information alignment and stitching method of the main and auxiliary acquisition vehicles, the problem of limited radar detection range was solved, enabling efficient acquisition of long-distance dense point cloud data and reducing costs.

CN117037097BActive Publication Date: 2026-07-24BEIJING QINGZHOUZHIHANG TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING QINGZHOUZHIHANG TECH CO LTD
Filing Date
2023-08-09
Publication Date
2026-07-24

AI Technical Summary

Technical Problem

In existing technologies, the radar installed on vehicles has a limited detection range and cannot obtain true point cloud data over long distances. Furthermore, advanced radar is expensive and its sparsity cannot meet the data annotation requirements.

Method used

Point cloud data is collected by two data acquisition vehicles equipped with positioning devices. The auxiliary point cloud data is converted using the relative pose information of the main acquisition vehicle and the auxiliary acquisition vehicle and then stitched together with the original point cloud data to obtain high-density long-distance point cloud data.

Benefits of technology

It can acquire dense point cloud data at a long distance in front of the vehicle without relying on high-cost radar equipment, which improves the density and efficiency of data collection and reduces costs.

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Abstract

Embodiments of the present application provide a method, device and equipment for obtaining long-distance point cloud data, and a storage medium, and relate to the technical field of automatic driving. The method comprises: obtaining original point cloud data collected by a main collection vehicle and auxiliary point cloud data collected by an auxiliary collection vehicle; performing timestamp alignment on the original point cloud data and the auxiliary point cloud data; and converting the auxiliary point cloud data based on a preset method and splicing the auxiliary point cloud data with the original point cloud data. According to the embodiments of the present application, two data collection vehicles equipped with positioning devices respectively collect point cloud data, and the point cloud data collected by the two vehicles is spliced according to a preset method, so that point cloud data with a long distance in front of the vehicle and high density can be obtained.
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Citation Information

Patent Citations

  • CN111681172A

  • CN114612869A