Lidar point cloud data correction method, device, equipment and storage medium

Abstract

The present application discloses a laser radar point cloud data correction method, device, equipment and storage medium, which relates to the field of laser radar technology. The present application discloses a laser radar point cloud data correction method, device, equipment and storage medium, including: obtaining first point cloud data; obtaining correction parameters, correcting the first point cloud data based on the correction parameters, and using the corrected first point cloud data as second point cloud data, wherein the correction parameters include: the rotation angle of the scanning line, the motion trajectory of the laser point, and the time synchronization error between the laser radar and the sensor. The present application corrects the point cloud data by obtaining different correction parameters, wherein the point cloud data correction process corresponding to each correction parameter is different. After the point cloud data is corrected, it can overcome the point cloud distortion caused by mechanical radar due to movement, scanning and other problems, thereby achieving the technical effect of improving the accuracy of the point cloud data.

Description

TECHNICAL FIELD

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

[0002] When the mechanical laser radar collects and processes point cloud data, due to the rotating scanning mechanism of the laser radar, the time difference of different scanning lines in the same frame of point cloud data causes the dislocation of the spatial position, which will cause scanning line distortion; due to the data collected by the laser radar during the movement, the spatial position of the collected points does not match the actual position, which will cause motion distortion; due to the time stamp asynchronization of the laser radar and other sensors (such as GPS, IMU), the data deviation will cause time synchronization distortion. These problems will affect the accuracy of the point cloud data.

[0003] Therefore, how to improve the accuracy of laser radar point cloud data is a problem to be solved at present.

[0004] The above content is only used to assist in understanding the technical solutions of the present application, and does not mean that the above content is prior art. SUMMARY

[0005] The main purpose of the present application is to provide a laser radar point cloud data correction method, device, equipment and storage medium, which aims to solve the technical problem of how to improve the accuracy of laser radar point cloud data.

[0006] In order to achieve the above purpose, the present application provides a laser radar point cloud data method, which comprises:

[0007] acquiring first point cloud data;

[0008] acquiring correction parameters, correcting the first point cloud data based on the correction parameters, and taking the corrected first point cloud data as second point cloud data, wherein the correction parameters include the rotation angle of the scanning line, the motion trajectory of the laser point and the time synchronization error of the laser radar and the sensor.

[0009] In an embodiment, the acquisition of the first point cloud data comprises:

[0010] acquiring original point cloud data, and taking the original point cloud data as the first point cloud data;

[0011] or,

[0012] acquiring corrected point cloud data, and taking the corrected point cloud data as the first point cloud data.

[0013] In an embodiment, the acquisition of the correction parameters and the correction of the first point cloud data based on the correction parameters comprise:

[0014] obtaining a rotation angle of a scan line, and correcting the first point cloud data based on the rotation angle;

[0015] or,

[0016] obtaining a motion trajectory of a laser point, and correcting the first point cloud data based on the motion trajectory;

[0017] or,

[0018] obtaining a time synchronization error of the lidar and the sensor, and correcting the first point cloud data based on the time synchronization error.

[0019] In an embodiment, the obtaining a rotation angle of a scan line, and correcting the first point cloud data based on the rotation angle comprises:

[0020] obtaining a scan parameter and a sequence number of a scan line, wherein the scan parameter comprises a scan period and a number of scan lines, and the scan line is in a one-to-one correspondence with the first point cloud data;

[0021] obtaining a time offset of the scan line based on the scan parameter and the sequence number;

[0022] obtaining a rotation angular velocity and an initial angle of the scan line;

[0023] obtaining a rotation angle of the scan line based on the initial angle, the rotation angular velocity and the time offset;

[0024] correcting the first point cloud data based on the rotation angle.

[0025] In an embodiment, the obtaining a motion trajectory of a laser point, and correcting the first point cloud data based on the motion trajectory comprises:

[0026] obtaining a position change and a pose change;

[0027] if the position change and the pose change conform to a Gaussian process, predicting the motion trajectory of the laser point using Gaussian process regression;

[0028] correcting the first point cloud data based on the motion trajectory.

[0029] In an embodiment, the obtaining a position change and a pose change comprises

[0030] establishing a rigid body motion model, and obtaining an initial rotation matrix and a translation vector based on the rigid body motion model;

[0031] obtaining an angular velocity and an acceleration;

[0032] obtaining a position change based on the acceleration, wherein the position change refers to a position change of the lidar sensor relative to a reference coordinate system within a scan period.

[0033] obtaining an attitude change based on the angular velocity and the initial rotation matrix, wherein the attitude change refers to a change in a rotation angle of the lidar sensor relative to a fixed reference coordinate system;

[0034] In an embodiment, the obtaining of the time synchronization error of the lidar and the sensor, and the correcting of the first point cloud data based on the time synchronization error further comprises:

[0035] obtaining a timestamp of the lidar;

[0036] obtaining a timestamp of the sensor;

[0037] if it is detected that the timestamp of the lidar and the timestamp of the sensor are not synchronized, calculating a time synchronization error;

[0038] correcting the first point cloud data based on the time synchronization error.

[0039] In addition, to achieve the above object, the present application further provides a lidar point cloud data correction device, which comprises:

[0040] an obtaining module, configured to obtain first point cloud data;

[0041] a de-warping module, configured to obtain a correction parameter, correct the first point cloud data based on the correction parameter, and take the corrected first point cloud data as second point cloud data, wherein the correction parameter comprises a rotation angle of a scan line, a motion trajectory of a laser point, and a time synchronization error of the lidar and the sensor.

[0042] In addition, to achieve the above object, the present application further provides a lidar point cloud data correction device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the lidar point cloud data correction method as described above.

[0043] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and has a computer program stored thereon, the computer program being executable by a processor to implement the steps of the lidar point cloud data correction method as described above.

[0044] In addition, to achieve the above object, the present application further provides a computer program product, which comprises a computer program, the computer program being executable by a processor to implement the steps of the lidar point cloud data correction method as described above.

[0045] The one or more technical solutions provided by the present application have at least the following technical effects:

[0046] By obtaining different correction parameters, the point cloud data is corrected, wherein the point cloud data correction process corresponding to each correction parameter is different. After the point cloud data is corrected, the point cloud distortion caused by the mechanical radar due to movement, scanning and the like can be overcome, thereby achieving the technical effect of improving the accuracy of the point cloud data. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings required to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0049] Figure 1 The flowchart provided for the first embodiment of the laser radar point cloud data correction method of the present application;

[0050] Figure 2 The module structure diagram of the laser radar point cloud data device of the embodiment of the present application;

[0051] Figure 3 The device structure diagram of the hardware running environment involved in the laser radar point cloud data method in the embodiment of the present application.

[0052] The purpose of the present application, the functional characteristics and the advantages will be further explained with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and do not limit the present application.

[0054] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings in the specification and the specific embodiments.

[0055] The main solution of the embodiment of the present application is: obtaining first point cloud data; obtaining correction parameters, correcting the first point cloud data based on the correction parameters, and taking the corrected first point cloud data as second point cloud data, wherein the correction parameters include: rotation angle of scanning line, motion trajectory of laser point and time synchronization error of laser radar and sensor.

[0056] In the present embodiment, for the convenience of description, the following is described with the identification laser radar as the execution subject.

[0057] The application provides a solution for correcting point cloud data by obtaining different correction parameters, wherein each correction parameter corresponds to a different point cloud data correction process. The following are three cases of point cloud data correction:

[0058] During the rotation scanning process of the laser radar, different scan lines in the same frame of data will have spatial misalignment due to the different rotation speed and scanning frequency of the laser radar. By obtaining the rotation angle of the scan line, the point cloud data is corrected.

[0059] During the data collection process of the laser radar in motion, the spatial position of the collected points does not match the actual position, which will cause motion distortion. A point cloud de-distortion algorithm based on Gaussian Process Regression (GPR) is combined with Inertial Measurement Unit (IMU) for tight coupling processing.

[0060] Time synchronization error occurs when the timestamps of the laser radar and other sensors (such as GPS, IMU) are not synchronized. According to the time synchronization error, the point cloud data can be time compensated to correct the deviation between different timestamps.

[0061] After the point cloud data has undergone the above correction process, the point cloud distortion caused by the mechanical laser radar due to motion, scanning, etc. can be overcome, thereby achieving the technical effect of improving the accuracy of the point cloud data.

[0062] It should be noted that the execution subject of the present embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a laser radar, etc. that can realize the above functions. The following will take the laser radar as an example to describe the present embodiment and the following embodiments.

[0063] Based on this, the present application provides a laser radar point cloud data correction method, which is described in detail with reference to Figure 1 , Figure 1 The flowchart of the first embodiment of the laser radar point cloud data correction method of the present application is shown in the figure.

[0064] In the present embodiment, the laser radar point cloud data correction method of the present application includes steps S10-S20:

[0065] Step S10, obtaining first point cloud data;

[0066] It should be noted that the first point cloud data refers to the original point cloud data without correction or the corrected point cloud data. The rotation of the radar will inevitably cause distortion, and these distortions will be superimposed together, so a point cloud data needs to be corrected in multiple ways to reduce the degree of different distortions. The point cloud data includes three-dimensional coordinates and reflection intensity. The three-dimensional coordinates refer to the basic attributes of each point, including X, Y, Z coordinates, which represent the position of the point in three-dimensional space. The reflection intensity is related to the laser radar scanning and represents the intensity of the reflected laser after the laser hits the object.

[0067] It can be understood that since the point cloud data needs to be corrected, step S10 is performed to avoid the problem of not timely updating the point cloud data, thereby ensuring that the laser radar can accurately obtain new first point cloud data in time when performing the correction operation.

[0068] In this embodiment, by obtaining the first point cloud data, it is ensured that the laser radar can accurately obtain new first point cloud data in time when performing the correction operation, and repeated correction is avoided.

[0069] In step S20, a correction parameter is obtained, and the first point cloud data is corrected based on the correction parameter. The corrected first point cloud data is taken as second point cloud data. The correction parameter includes the rotation angle of the scan line, the motion trajectory of the laser point, and the time synchronization error of the laser radar and the sensor.

[0070] It should be noted that the correction parameter is used to correct the first point cloud data, including the rotation angle of the scan line, the motion trajectory of the laser point, and the time synchronization error of the laser radar and the sensor.

[0071] It can be understood that since there are various reasons for the distortion of the point cloud data, step S20 is performed to correct the point cloud data according to the corresponding parameters, thereby improving the accuracy of the point cloud data.

[0072] In a first feasible embodiment, step S10 can include steps A11-A15:

[0073] In step A11, a scan parameter and a sequence number of a scan line are obtained.

[0074] It should be noted that the scan parameter includes a scan period and a number of scan lines. The scan period is the time required for the laser radar to complete one complete scan. The number of scan lines refers to the number of independent laser beams that can be generated by the laser radar during one complete scan. Each scan line represents a data point obtained after the laser radar transmits and receives a laser pulse once. The sequence number of the scan line refers to the order of the scan lines generated in one scan period.

[0075] Step A12, obtaining a time offset of the scanning line based on the scanning parameter and the serial number;

[0076] It should be noted that the time offset of the scanning line refers to the time offset of the scanning line relative to the initial scanning time.

[0077] Exemplarily, assuming that the time for the laser radar to rotate one circle is T scan , the scanning frequency is f scan , and the number of scanning lines is N, the time t n of the nth scanning line is:

[0078]

[0079] This formula indicates the time point t n of the nth scanning line, where t0 is the initial scanning time, and T scan is the time for the laser radar to rotate one circle.

[0080] Step A13, obtaining a rotation angular velocity and an initial angle of the scanning line;

[0081] It should be noted that the rotation angular velocity refers to the angle that the laser radar can rotate in a unit of time when scanning, and the initial angle of the scanning line refers to the starting angle of the laser emitted by the first scanning line when the laser radar starts a complete scanning. This angle is defined relative to a reference direction (such as geographical north) or a fixed direction of the laser radar itself.

[0082] Step A14, obtaining a rotation angle of the scanning line based on the initial angle, the rotation angular velocity and the time offset.

[0083] Exemplarily, if the rotation angular velocity of the laser radar is ω, the angle θn of the nth scanning line at time t n is:

[0084] θ n = θ0+ ω·(t n -t0)

[0085] This formula indicates the rotation angle θ n of the nth scanning line at time t n , where θ0 is the initial angle.

[0086] Step A15, correcting the first point cloud data based on the rotation angle.

[0087] Exemplarily, in the spatial coordinate system, the point cloud data (x, y, z) of the nth scanning line can be corrected by the following formula:

[0088] x′= xn cos(θ n )-y n sin(θ n )

[0089] y′=x n sin(θ n )+y n con(θ n )

[0090] z′=z n

[0091] This formula is used to convert the point cloud data (x', y', z') after scan line distortion correction to the actual space coordinate system. Where (x n , y n , z n ) is the uncorrected point cloud data, θ n is the rotation angle of the nth scan line.

[0092] In this embodiment, by obtaining the rotation angle of the scan line, the scan line distortion generated by the 1 laser radar in the rotation scanning process can be corrected, and more accurate point cloud data can be obtained.

[0093] In a second possible implementation, step S10 can include steps B11-B15:

[0094] Step B11, establish a rigid body motion model, and obtain an initial rotation matrix and a translation vector based on the rigid body motion model;

[0095] It should be noted that the rigid body motion model includes a rotation matrix and a translation vector. In three-dimensional space, the rotation matrix and the translation vector of the laser radar together define the position and direction of the laser radar coordinate system relative to the global coordinate system or another coordinate system. These are the basic components of coordinate transformation, which are used to accurately map the point cloud data measured by the laser radar to the global coordinate system. The rigid body motion matrix is described as:

[0096]

[0097] Where R(t) represents the rotation matrix, t(t) represents the translation vector, and T(t) represents the rigid transformation matrix at time t.

[0098] Step B12, obtain the angular velocity and acceleration;

[0099] It should be noted that the angular velocity refers to the angle that the laser radar can rotate in a unit of time when scanning, and the acceleration refers to the speed that the laser radar increases per second during movement.

[0100] Step B13, obtaining a position change based on the acceleration and an attitude change based on the angular velocity and the initial rotation matrix;

[0101] It should be noted that the position change refers to the position change of the lidar sensor relative to a fixed reference coordinate system in a scanning period, and the attitude change refers to the change in the rotation angle of the lidar sensor relative to a fixed reference coordinate system.

[0102] Exemplarily, the angular velocity ω(t) and the acceleration a(t) measured by the IMU can be used to obtain the rotation matrix R(t) and the position p(t) at each moment. The integral of the angular velocity obtains the attitude change:

[0103] R(t+Δt)=R(t)exp(ω(t)Δt)

[0104] Wherein, exp represents the matrix exponential.

[0105] The integral of the acceleration obtains the velocity and the position:

[0106] v(t+Δt)=v(t)+a(t)Δt

[0107]

[0108] Step B14, if the position change and the attitude change conform to the Gaussian process, using Gaussian process regression to predict the motion trajectory of the laser point.

[0109] It should be noted that the motion trajectory of the laser point refers to the position distribution of the laser point at continuous time points.

[0110] Exemplarily, assuming that the pose change of the lidar conforms to the Gaussian process, the Gaussian process regression is used to predict the pose change:

[0111]

[0112] Wherein, m(x) is the mean function, k(x, x') is the covariance function, and the specific regression equation is:

[0113] f * =K(X * ,X)K(X,X) -1 f

[0114] ∈ * =K(X * ,X * )-K(X * ,X * )K(X,X) -1 K(X,X * )

[0115] Where K(X, X) represents the covariance matrix between the training data, and K(X*, X) represents the covariance matrix between the test data and the training data.

[0116] Step B15: Correct the first point cloud data based on the motion trajectory.

[0117] For example, for each laser point, motion compensation is performed:

[0118] p′ i =R(t i )p i +t(t i )

[0119] Among them, p′ i is the original laser point, p′ i is the laser point after compensation.

[0120] In this embodiment, the point cloud data distortion caused by the movement of the laser radar is corrected by predicting the movement trajectory of the laser point.

[0121] In a third feasible implementation, step S10 may include steps C11 to C13:

[0122] Step C11, obtaining the timestamp of the lidar and the timestamp of the sensor;

[0123] It should be noted that the timestamp of the lidar refers to the time information recorded when the lidar emits and receives laser pulses, and the timestamp of the sensor refers to the time information related to data acquisition recorded by any sensor (such as camera, IMU, GPS, etc.), which is often used to synchronize sensor data and ensure the timing of the data.

[0124] Step C12: if it is detected that the timestamp is not synchronized with the timestamp of the sensor, a time synchronization error is calculated;

[0125] Time synchronization error occurs when the timestamps between the lidar and other sensors (such as GPS, IMU) are not synchronized.

[0126] For example, assuming that the timestamp of the lidar is t_Lidar and the timestamp of other sensors is t_Sensor, the time synchronization error can be expressed as:

[0127] Δt=t sensor -t Lidar

[0128] Step C13, correcting the first point cloud data based on the time synchronization error;

[0129] According to the time synchronization error Δt, the point cloud data can be time compensated to correct the deviation between different time stamps.

[0130] In this embodiment, by calculating the time stamps of the lidar and the sensor, the point cloud data distortion caused by the different time stamps is corrected, thereby improving the accuracy of the point cloud data.

[0131] It can be understood that the three embodiments of step S10 provided above correct the point cloud data from different angles. The first embodiment corrects the point cloud data from the different scanning lines in the same frame data due to the different rotation speed and scanning frequency of the lidar. The second embodiment corrects the point cloud data from the fact that the lidar collects data during movement, resulting in the spatial position of the collected points not matching the actual position. The third embodiment corrects the point cloud data from the time synchronization error between the lidar and other sensors.

[0132] The above are only three possible embodiments of step S20 provided by the present embodiment, and the present embodiment does not specifically limit the specific embodiments of step S20.

[0133] The present embodiment provides a lidar point cloud data correction method, which corrects the point cloud data by obtaining different correction parameters. Each correction parameter corresponds to a different point cloud data correction process. After the point cloud data is corrected, the point cloud distortion caused by the mechanical radar due to movement, scanning, etc. can be overcome, thereby achieving the technical effect of improving the accuracy of the point cloud data.

[0134] It should be noted that the above examples are only used to understand the present application and do not limit the lidar point cloud data correction method of the present application. Based on this technical concept, more forms of simple transformation are within the protection scope of the present application.

[0135] The present application also provides a lidar point cloud data correction device, please refer to Figure 2 , the lidar point cloud data correction device comprises:

[0136] The acquisition module 10 is configured to acquire first point cloud data.

[0137] The distortion correction module 20 is configured to obtain correction parameters, correct the first point cloud data based on the correction parameters, and take the corrected first point cloud data as second point cloud data. The correction parameters include the rotation angle of the scanning line, the motion trajectory of the laser point, and the time synchronization error between the lidar and the sensor.

[0138] The laser radar point cloud data correction device provided by the application can solve the technical problem of laser radar point cloud data correction. Compared with the prior art, the laser radar point cloud data correction device provided by the application has the same beneficial effects as the laser radar point cloud data correction method provided by the above-mentioned embodiments, and other technical features in the laser radar point cloud data correction device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0139] In an embodiment, the acquisition module 10 is further configured to acquire original point cloud data, and take the original point cloud data as the first point cloud data; or acquire corrected point cloud data, and take the corrected point cloud data as the first point cloud data.

[0140] In an embodiment, the de-warping module 20 is further configured to acquire a rotation angle of the scan line, and correct the first point cloud data based on the rotation angle; or acquire a motion trajectory of the laser point, and correct the first point cloud data based on the motion trajectory; or acquire a time synchronization error of the laser radar and the sensor, and correct the first point cloud data based on the time synchronization error.

[0141] In an embodiment, the de-warping module 20 is further configured to acquire a scan parameter and a serial number of the scan line, wherein the scan parameter comprises a scan period and a number of scan lines, and the scan line has a one-to-one correspondence with the first point cloud data; obtain a time offset of the scan line based on the scan parameter and the serial number; acquire an initial angle of the scan line and an angular velocity of rotation; obtain a rotation angle of the scan line based on the initial angle, the angular velocity of rotation and the time offset; and correct the first point cloud data based on the rotation angle.

[0142] In an embodiment, the de-warping module 20 is further configured to acquire a position change and a posture change; if the position change and the posture change conform to a Gaussian process, use Gaussian process regression to predict a motion trajectory of the laser point; and correct the first point cloud data based on the motion trajectory.

[0143] In an embodiment, the de-warping module 20 is further configured to establish a rigid body motion model, obtain an initial rotation matrix and a translation vector based on the rigid body motion model; acquire an angular velocity and an acceleration; obtain a position change based on the acceleration, wherein the position change refers to a position change of the laser radar sensor relative to a certain reference coordinate system within a scan period; and obtain a posture change based on the angular velocity and the initial rotation matrix, wherein the posture change refers to a change in the rotation angle of the laser radar sensor relative to a certain fixed reference coordinate system.

[0144] In an embodiment, the demodulation module 20 is further configured to acquire a timestamp of the laser radar; acquire a timestamp of the sensor; calculate a time synchronization error if it is detected that the timestamp of the laser radar is not synchronized with the timestamp of the sensor; and correct the first point cloud data based on the time synchronization error.

[0145] The present application provides a laser radar point cloud data correction device, which comprises at least one processor and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the laser radar point cloud data correction method in the above-mentioned embodiment one.

[0146] Reference will now be made to the drawings, in which Figure 3 which shows a structural schematic diagram of a laser radar point cloud data correction device suitable for implementing the embodiments of the present application. The laser radar point cloud data correction device in the embodiments of the present application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 3 The laser radar point cloud data correction device shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0147] As Figure 3As shown, the lidar point cloud data correction device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for the operation of the lidar point cloud data correction device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the lidar point cloud data correction device to communicate wirelessly or by wire with other devices to exchange data. Although the lidar point cloud data correction device with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0148] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of embodiments of the present disclosure are performed.

[0149] The lidar point cloud data correction device provided by the present disclosure adopts the lidar point cloud data correction method in the above-mentioned embodiments, and can solve the technical problem of lidar point cloud data correction. Compared with the prior art, the lidar point cloud data correction device provided by the present disclosure has the same beneficial effects as the lidar point cloud data correction method provided by the above-mentioned embodiments, and other technical features in the lidar point cloud data correction device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0150] It should be understood that various aspects of the disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any appropriate manner in any one or more embodiments or examples.

[0151] The above description is merely illustrative of the application and is not intended to limit the scope of the application. Any variations and modifications that can be made by any person skilled in the art within the spirit and scope of the application are intended to be encompassed by the application. The scope of the application is defined by the appended claims.

[0152] The application provides a computer readable storage medium having computer readable program instructions (i.e., computer programs) stored thereon, the computer readable program instructions being used to perform the laser radar point cloud data correction method in the above embodiments.

[0153] The computer readable storage medium provided by the application may, for example, be a U disk, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electrical connection having one or more conductive wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted in any appropriate medium, including but not limited to electrical wire, optical cable, RF (Radio Frequency), etc., or any appropriate combination of the above.

[0154] The above computer readable storage medium can be included in the laser radar point cloud data correction device; or can exist separately and not be assembled into the laser radar point cloud data correction device.

[0155] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the laser radar point cloud data correction device, the laser radar point cloud data correction device is caused to: acquire first point cloud data; acquire a correction parameter, correct the first point cloud data based on the correction parameter, and take the corrected first point cloud data as second point cloud data, wherein the correction parameter comprises a rotation angle of a scanning line, a motion trajectory of a laser point, and a time synchronization error of a laser radar and a sensor.

[0156] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0157] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0158] The modules involved in the embodiments of the present application can be implemented in a software manner or in a hardware manner. In some cases, the name of the module does not constitute a limitation on the module itself.

[0159] The readable storage medium provided by the application is a computer readable storage medium, which stores computer readable program instructions (i.e. computer programs) for executing the above-mentioned laser radar point cloud data correction method, and can solve the technical problem of laser radar point cloud data correction. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the application are the same as those of the laser radar point cloud data correction method provided by the above-mentioned embodiments, and will not be repeated here.

[0160] The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the laser radar point cloud data correction method as described above.

[0161] The computer program product provided by the application can solve the technical problem of laser radar point cloud data correction. Compared with the prior art, the beneficial effects of the computer program product provided by the application are the same as those of the laser radar point cloud data correction method provided by the above-mentioned embodiments, and will not be repeated here.

[0162] The above-mentioned is only part of the embodiments of the application, and does not limit the patent scope of the application, and any equivalent structural transformation, direct / indirect application in other related technical fields within the technical concept of the application, using the content of the application specification and drawings, are included in the patent protection scope of the application.

Claims

1. A laser radar point cloud data correction method, characterized in that: The method includes: Acquire original point cloud data and use the original point cloud data as first point cloud data or, Acquire the corrected point cloud data, and use the corrected point cloud data as the first point cloud data; Acquire correction parameters, correct the first point cloud data based on the correction parameters, and use the corrected first point cloud data as the second point cloud data, wherein the correction parameters include: a rotation angle of a scanning line, a motion trajectory of a laser point, and a time synchronization error between a laser radar and a sensor; The obtaining of correction parameters and correcting the first point cloud data based on the correction parameters includes: Obtaining scanning parameters and scanning line numbers, wherein the scanning parameters include a scanning period and a number of scanning lines, and the scanning lines are in a one-to-one correspondence with the first point cloud data; Based on the scanning parameter and the sequence number, a time offset of the scanning line is obtained; Get the rotation angular velocity and the initial angle of the scan line; Obtaining a rotation angle of a scan line based on the initial angle, the rotation angular velocity, and the time offset; Correcting the first point cloud data based on the rotation angle; or, Establish a rigid body motion model, and based on the rigid body motion model, obtain the initial rotation matrix and translation vector; Get angular velocity and acceleration; Obtaining a position change based on the acceleration, wherein the position change refers to a position change of the lidar sensor relative to a reference coordinate system within a scanning cycle; Obtaining a posture change based on the angular velocity and the initial rotation matrix, wherein the posture change refers to a rotation angle change of the lidar sensor relative to a fixed reference coordinate system; If the position change and the posture change conform to a Gaussian process, then using Gaussian process regression to predict the motion trajectory of the laser point; Correcting the first point cloud data based on the motion trajectory; or, Get the timestamp of the lidar; Get the timestamp of the sensor; If it is detected that the timestamp of the laser radar is out of sync with the timestamp of the sensor, a time synchronization error is calculated; The first point cloud data is corrected based on the time synchronization error.

2. A laser radar point cloud data correction method and device, characterized in that: The device comprises: An acquisition module is used to acquire first point cloud data; the acquisition module is further used to acquire original point cloud data and use the original point cloud data as the first point cloud data; or to acquire corrected point cloud data and use the corrected point cloud data as the first point cloud data; A dedistortion module is configured to obtain correction parameters, correct the first point cloud data based on the correction parameters, and use the corrected first point cloud data as the second point cloud data, wherein the correction parameters include: a rotation angle of the scan line, a motion trajectory of the laser point, and a time synchronization error between the laser radar and the sensor; the dedistortion module is further configured to obtain scanning parameters and a sequence number of the scan line, wherein the scanning parameters include a scanning period and a number of scan lines, and the scan line and the first point cloud data have a one-to-one correspondence; obtain a time offset of the scan line based on the scanning parameters and the sequence number; obtain a rotation angular velocity and an initial angle of the scan line; obtain a rotation angle of the scan line based on the initial angle, the rotation angular velocity, and the time offset; and correct the first point cloud data based on the rotation angle; The dedistortion module is further configured to establish a rigid body motion model, obtain an initial rotation matrix and a translation vector based on the rigid body motion model; obtain angular velocity and acceleration; obtain a position change based on the acceleration, wherein the position change refers to a position change of the laser radar sensor relative to a certain reference coordinate system within a scanning cycle; obtain an attitude change based on the angular velocity and the initial rotation matrix, wherein the attitude change refers to a rotation angle change of the laser radar sensor relative to a certain fixed reference coordinate system; if the position change and the attitude change conform to a Gaussian process, use Gaussian process regression to predict the motion trajectory of the laser point; and correct the first point cloud data based on the motion trajectory. The dedistortion module is further used to obtain the timestamp of the laser radar; obtain the timestamp of the sensor; if it is detected that the timestamp of the laser radar is out of sync with the timestamp of the sensor, calculate the time synchronization error; and correct the first point cloud data based on the time synchronization error.

3. A laser radar point cloud data correction method and device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the laser radar point cloud data correction method according to claim 1.

4. A storage medium, characterized in that The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the laser radar point cloud data correction method according to claim 1 are implemented.

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