Laser ranging energy compensation calculation method and device, equipment and storage medium

Abstract

The invention discloses a laser ranging energy compensation calculation method, device and equipment and a storage medium, and relates to the technical field of laser ranging energy compensation, and the laser ranging energy compensation calculation method comprises the steps: obtaining laser ranging energy compensation sample data points; a plurality of target segments are obtained according to the laser ranging energy compensation sample data points; fitting the target segment through a preset fitting algorithm to obtain an initial fitting result; calculating a total error according to the initial fitting result; and obtaining a target fitting result according to the total error and the initial fitting result. According to the method, curve segmentation areas are automatically divided, and a segmentation point jump punishment error definition mode is used to ensure that a laser ranging energy compensation calculation curve segmentation fitting result has no jump.

Description

Technical Field

[0001] The present application relates to the technical field of laser ranging energy compensation, and in particular to a laser ranging energy compensation calculation method, device, equipment and storage medium. Background Art

[0002] Nowadays, laser ranging is a high-tech technology that uses laser beams to measure distances. Its principle is based on the basic principles of constant light speed and time measurement. By emitting a laser beam and measuring the time from emission to reflection by the target and returning to the receiver, the distance between the target and the rangefinder can be accurately calculated. Laser ranging technology has been widely used in many fields due to its advantages such as high precision, long measurement range, and strong anti-interference. However, in practical applications, laser ranging technology faces the challenge of laser energy attenuation. During the transmission process, the laser will be affected by various factors and cause energy attenuation, including air absorption, scattering, and changes in the reflection characteristics of the target surface. This energy attenuation will cause the intensity of the received echo signal to weaken, thereby affecting the ranging accuracy. Especially in long-distance measurements or harsh environmental conditions, the problem of laser energy attenuation is particularly prominent. In order to overcome the influence of laser energy attenuation on ranging accuracy and improve the practicality and reliability of laser ranging technology, energy compensation is particularly important.

[0003] The existing energy compensation method is achieved by curve fitting the energy compensation curve, but the curve segmentation area of ​​this method often needs to be divided manually; sometimes the fitting value of the segmentation point between each curve segment has a jump. Therefore, how to automatically divide the curve segmentation area and ensure that the fitting value between the energy compensation curve segmentation areas does not jump is a problem that still needs to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a laser ranging energy compensation calculation method, device, equipment and storage medium, aiming to solve the technical problem of how to automatically divide the curve segment area and ensure that the fitting value between the energy compensation curve segment areas has no jump.

[0006] To achieve the above purpose, the present application proposes a laser ranging energy compensation calculation method, the method comprising: Obtain laser ranging energy compensation sample data points; Obtaining a plurality of target segments according to the laser ranging energy compensation sample data points; Fitting the target segment by a preset fitting algorithm to obtain an initial fitting result; Calculating a total error based on the initial fitting result; A target fitting result is obtained according to the total error and the initial fitting result.

[0007] In one embodiment, the step of obtaining a plurality of target segments according to the laser ranging energy compensation sample data points comprises: Randomly select segmentation points according to the laser ranging energy compensation sample data points; According to the segmentation points, a plurality of target segments are obtained.

[0008] In one embodiment, the step of randomly selecting segmentation points according to the laser ranging energy compensation sample data points comprises: Determining the number of segments according to the laser ranging energy compensation sample data points; According to the number of segments, segmentation points are randomly selected.

[0009] In one embodiment, the preset fitting algorithm includes the least squares method, and the step of fitting the target segment by the preset fitting algorithm to obtain an initial fitting result includes: Determining a calculation model and an error function according to the target segmentation; According to the calculation model and the error function, the initial fitting result is obtained.

[0010] In one embodiment, the step of calculating the total error according to the initial fitting result comprises: According to the initial fitting result, the total number of segments, fitting error, fitting function and segmentation points are obtained; A total error is calculated according to the total number of segments, the fitting error, the fitting function and the segmentation points.

[0011] In one embodiment, the step of obtaining a target fitting result according to the total error and the initial fitting result includes: If the total error does not meet the error requirement, returning to the step of compensating the sample data points according to the laser ranging energy to obtain a plurality of target segments; If the total error meets the error requirement, the initial fitting result is used as the target fitting result.

[0012] In one embodiment, if the total error does not meet the error requirement, then returning to the step of randomly selecting segmentation points according to the laser ranging energy compensation sample data points to obtain multiple target segments, further comprising: Get the maximum preset number of iterations; If the total error does not meet the error requirement, the process returns to the step of compensating the sample data points according to the laser ranging energy to obtain a plurality of target segments until a preset maximum number of iterations is reached.

[0013] In addition, to achieve the above purpose, the present application also proposes a laser ranging energy compensation calculation device, the laser ranging energy compensation calculation device comprising: An acquisition module is used to acquire laser ranging energy compensation sample data points; A segmentation module randomly selects segmentation points according to the laser ranging energy compensation sample data points to obtain multiple target segments; A fitting module, which fits the target segment by a preset fitting algorithm to obtain an initial fitting result; A calculation module, calculating a total error according to the initial fitting result; The iterative module obtains a target fitting result according to the total error and the initial fitting result.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a laser ranging energy compensation calculation device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the laser ranging energy compensation calculation method as described above.

[0015] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the laser ranging energy compensation calculation method described above are implemented.

[0016] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the laser ranging energy compensation calculation method as described above.

[0017] The present application provides a laser ranging energy compensation calculation method, which first obtains laser ranging energy compensation sample data points; obtains multiple target segments according to the laser ranging energy compensation sample data points; fits the target segments through a preset fitting algorithm to obtain an initial fitting result; calculates the total error according to the initial fitting result; obtains the target fitting result according to the total error and the initial fitting result. The present application automatically divides the curve segment area and uses the error definition method of the segment point jump penalty to ensure that the laser ranging energy compensation calculation curve segment fitting result has no jump. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the laser ranging energy compensation calculation method of the present application; Figure 2 This is a schematic diagram of sample data points of laser ranging energy compensation in an embodiment of the laser ranging energy compensation calculation method of the present application; Figure 3 This is a schematic diagram of a fitting curve of sample data points of laser ranging energy compensation in an embodiment of the laser ranging energy compensation calculation method of the present application; Figure 4 A schematic diagram of a flow chart provided for the second embodiment of the laser ranging energy compensation calculation method of the present application; Figure 5 This is a schematic diagram of a brief process in an embodiment of the laser ranging energy compensation calculation method of the present application; Figure 6 This is a schematic diagram of the module structure of the laser ranging energy compensation calculation device according to an embodiment of the present application; Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the laser ranging energy compensation calculation method in the embodiment of the present application.

[0021] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0023] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0024] The main solution of the embodiment of the present application is: first obtain laser ranging energy compensation sample data points; obtain multiple target segments according to the laser ranging energy compensation sample data points; fit the target segments through a preset fitting algorithm to obtain an initial fitting result; calculate the total error according to the initial fitting result; and obtain the target fitting result according to the total error and the initial fitting result.

[0025] At present, the laser ranging energy compensation curve is usually fitted to obtain the compensation amount corresponding to each ranging energy. However, the existing curve fitting method will cause the fitting value to jump between segmented areas.

[0026] The present application automatically divides the curve into segmented areas and uses the error definition method of segment point jump penalty to ensure that the segment fitting result of the laser ranging energy compensation calculation curve has no jump.

[0027] Based on this, the embodiment of the present application provides a laser ranging energy compensation calculation method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the laser ranging energy compensation calculation method of the present application.

[0028] In this embodiment, the laser ranging energy compensation calculation method includes steps S10 to S50: Step S10: Acquire laser ranging energy compensation sample data points; It should be noted that the execution subject of this 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 capable of realizing the above functions, a laser ranging energy compensation calculation device, etc. The following takes the laser ranging energy compensation calculation device as an example to illustrate this embodiment and the following embodiments.

[0029] It should be noted that laser ranging energy compensation refers to a series of measures taken to enhance or maintain the energy level of the laser signal in the process of laser ranging, in response to problems such as energy attenuation, scattering or absorption that the laser signal may encounter during propagation, so as to ensure the accuracy and reliability of ranging.

[0030] Laser ranging energy compensation sample data points, please refer to Figure 2 , where the horizontal axis is the energy of the laser pulse reflection signal (unitless), and the vertical axis is the compensation amount required at this energy (cm).

[0031] In a feasible manner, the steps of obtaining laser ranging energy compensation sample data points include: Randomly select segmentation points according to the laser ranging energy compensation sample data points; According to the segmentation points, a plurality of target segments are obtained.

[0032] It is understandable that before determining the segmentation points, the number of segments needs to be determined first. The total number of segments needs to be determined based on the scenario or application requirements. Then the segmentation points are randomly selected according to the total number of segments. Figure 3 , the total number of segments is determined to be 3, so 2 segmentation points are randomly selected to obtain the target segment.

[0033] Step S20: obtaining a plurality of target segments according to the laser ranging energy compensation sample data points; It should be noted that in order to more accurately capture different trends and patterns in the data, the laser ranging energy compensation sample data points need to be segmented to obtain multiple target segments. At the same time, it also helps to reduce fitting errors. The segmentation method can be based on equal distances or on features such as inflection points and mutation points in the data.

[0034] Step S30: fitting the target segment by a preset fitting algorithm to obtain an initial fitting result; It should be noted that fitting refers to the process of approximately describing the relationship between a set of data points by constructing a mathematical model (such as a linear model, polynomial model, nonlinear model, etc.), with the goal of finding a function that best approximates the given data points, thereby being able to predict or explain patterns or trends in the data. Fitting methods include least squares method, polynomial fitting, exponential fitting, and other methods.

[0035] In a feasible manner, the preset fitting algorithm includes a least squares method, and the step of fitting the target segment by using the preset fitting algorithm to obtain an initial fitting result includes: Determining a calculation model and an error function according to the target segmentation; According to the calculation model and the error function, the initial fitting result is obtained.

[0036] It should be noted that the error function (also called loss function) is used to quantify the difference between the model's predicted values ​​and the actual observed values.

[0037] It is understandable that first, a suitable mathematical model needs to be determined according to the data characteristics and analysis requirements of the target segment, and the model parameters need to be solved. The initial fitting result can be obtained by calculating the model and the error function.

[0038] Step S40: Calculating the total error according to the initial fitting result; It should be noted that the total error refers to the error of the entire curve of the initial fitting result. By calculating the total error, it can be determined whether the current initial fitting result meets the requirements.

[0039] In a feasible manner, the step of calculating the total error according to the initial fitting result includes: According to the initial fitting result, the total number of segments, fitting error, fitting function and segmentation points are obtained; A total error is calculated according to the total number of segments, the fitting error, the fitting function and the segmentation points.

[0040] It should be noted that the total number of segments refers to the number of segments, the fitting error refers to the error between the fitting result and the actual result, and the fitting function refers to the function model obtained by fitting. The calculation formula of the total error is:

[0041] Where e is the total error; n is the total number of segments; e k is the fitting error of the kth segment; f k is the function corresponding to the kth segment fitting result; x k is the segmentation point of the kth segment; M is a constant that is at least one order of magnitude larger than the error requirement.

[0042] It is understandable that the calculation formula of the total error uses the error definition method of the segmented point jump penalty, which can ensure that the final fitting result has no jump. Figure 3 As shown, the calculated total error is 235, and there is no jump between the segments.

[0043] like Figure 3 As shown, the calculated total error is 235, and the segmentation points are 66 and 157.

[0044] Step S50: obtaining a target fitting result according to the total error and the initial fitting result.

[0045] The total error can be used to determine whether the initial fitting result meets the requirements, and thus choose to directly or again fit to obtain the target fitting result.

[0046] In this embodiment, laser ranging energy compensation sample data points are first obtained; multiple target segments are obtained according to the laser ranging energy compensation sample data points; the target segments are fitted by a preset fitting algorithm to obtain an initial fitting result; the total error is calculated according to the initial fitting result; and the target fitting result is obtained according to the total error and the initial fitting result. Since the error definition method of the segment point jump penalty is used in the total error calculation formula, it is ensured that the segment fitting result of the laser ranging energy compensation calculation curve has no jump.

[0047] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , step S50 shown includes steps S501-S502: Step S501: if the total error does not meet the error requirement, returning to the step of compensating the sample data points according to the laser ranging energy to obtain a plurality of target segments; It should be noted that the error requirement is calculated based on the actual situation of the laser ranging energy compensation sample data points, which can be referred to Figure 2There are 408 data points in the figure. If the expected error of each data point is set to 0.76 (cm), the error requirement is 408 multiplied by 0.76 squared, which is 236.

[0048] When the calculated total error does not meet the error requirement, that is, the total error is greater than the error requirement, it means that the difference between the current fitted curve and the laser ranging energy compensation sample data point is too large, then it is necessary to return to the step of obtaining multiple target segments according to the laser ranging energy compensation sample data point. Through this step, the segmentation points can be randomly selected again, each target segment is fitted again, and a new total error is obtained. In this way, the total error can be guaranteed to meet the error requirement.

[0049] It is understandable that when the total error does not meet the error requirement, it is necessary to first obtain the maximum preset number of iterations and determine whether the current number of iterations exceeds the maximum preset number of iterations. When the number of iterations reaches the maximum preset number of iterations, the iteration needs to be terminated. Because in some cases, the calculated total error may not meet the error requirement all the time, and the iteration cannot be stopped, the iteration can be terminated through this step.

[0050] Step S502: If the total error meets the error requirement, the initial fitting result is used as the target fitting result.

[0051] When the total error meets the error requirement, it means that the initial fitting result meets the requirement and can be used as the target fitting result. Figure 3 , the calculated total error is 235, which is less than the error requirement of 236. The curve in the figure is the target fitting result.

[0052] This embodiment determines whether the initial fitting result can be used as the target fitting result by judging whether the total error meets the error requirement. When the total error does not meet the error requirement, the process returns to the step of obtaining multiple target segments according to the laser ranging energy compensation sample data points and refits. This embodiment ensures that the fitting result meets the requirements through continuous iteration, thereby improving the accuracy of the laser ranging energy compensation calculation.

[0053] For example, in order to help understand the implementation process of the laser ranging energy compensation calculation method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 5 , Figure 5A brief flow chart of a laser ranging energy compensation calculation method is provided, specifically: select the number of segments according to the application scenario and requirements; randomly select a group of segmentation methods; use the least squares method for each segment; determine whether the result meets the error requirements; if it meets the requirements, save the calculation results. If it does not meet the error requirements, determine whether the maximum number of iterations has been reached. If it has been reached, end the process. If it has not reached the maximum number of iterations, randomly select a group of segmentation methods again, and use the least squares method for each segment to determine whether the error meets the requirements again.

[0054] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the laser ranging energy compensation calculation method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0055] This application also provides a laser ranging energy compensation calculation device, please refer to Figure 6 , the laser ranging energy compensation calculation device comprises: An acquisition module 10 is used to acquire laser ranging energy compensation sample data points; A segmentation module 20 randomly selects segmentation points according to the laser ranging energy compensation sample data points to obtain multiple target segments; A fitting module 30, which fits the target segment by a preset fitting algorithm to obtain an initial fitting result; A calculation module 40 is used to calculate a total error according to the initial fitting result; The iteration module 50 obtains a target fitting result according to the total error and the initial fitting result.

[0056] In this embodiment, laser ranging energy compensation sample data points are first obtained; multiple target segments are obtained according to the laser ranging energy compensation sample data points; the target segments are fitted by a preset fitting algorithm to obtain an initial fitting result; the total error is calculated according to the initial fitting result; and the target fitting result is obtained according to the total error and the initial fitting result. Since the error definition method of the segment point jump penalty is used in the total error calculation formula, it is ensured that the segment fitting result of the laser ranging energy compensation calculation curve has no jump.

[0057] In one embodiment, the segmentation module 20 is further used to randomly select segmentation points according to the laser ranging energy compensation sample data points; and obtain multiple target segments according to the segmentation points.

[0058] In one embodiment, the segmentation module 20 is further used to determine the number of segments according to the laser ranging energy compensation sample data points; and randomly select segmentation points according to the number of segments.

[0059] In one embodiment, the fitting module 30 is further used to determine a calculation model and an error function according to the target segment; and obtain an initial fitting result according to the calculation model and the error function.

[0060] In one embodiment, the calculation module 40 is further used to obtain the total number of segments, the fitting error, the fitting function and the segmentation points according to the initial fitting result; and calculate the total error according to the total number of segments, the fitting error, the fitting function and the segmentation points.

[0061] In one embodiment, the fitting module 50 is further used to return to the step of compensating the sample data points according to the laser ranging energy to obtain multiple target segments if the total error does not meet the error requirement; if the total error meets the error requirement, the initial fitting result is used as the target fitting result.

[0062] In one embodiment, the fitting module 50 is also used to obtain a maximum preset number of iterations; if the total error does not meet the error requirement, it returns to the step of compensating the sample data points according to the laser ranging energy to obtain multiple target segments until the preset maximum number of iterations is reached.

[0063] The laser ranging energy compensation calculation device provided by the present application adopts the laser ranging energy compensation calculation method in the above embodiment, which can solve the technical problem of how to automatically divide the curve segmentation area and ensure that the fitting value between the energy compensation curve segmentation areas has no jump. Compared with the prior art, the beneficial effect of the laser ranging energy compensation calculation device provided by the present application is the same as the beneficial effect of the laser ranging energy compensation calculation method provided by the above embodiment, and other technical features in the laser ranging energy compensation calculation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0064] The present application provides a laser ranging energy compensation calculation device, which includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the laser ranging energy compensation calculation method in the above-mentioned embodiment 1.

[0065] Reference below Figure 7, which shows a schematic diagram of the structure of a laser ranging energy compensation calculation device suitable for implementing the embodiment of the present application. The laser ranging energy compensation calculation device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The laser ranging energy compensation calculation device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0066] like Figure 7 As shown, the laser ranging energy compensation calculation device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the laser ranging energy compensation calculation device are also stored in RAM1004. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the laser ranging energy compensation computing device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a laser ranging energy compensation computing device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0067] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0068] The laser ranging energy compensation calculation device provided by the present application adopts the laser ranging energy compensation calculation method in the above embodiment, which can solve the technical problem of how to automatically divide the curve segmentation area and ensure that the fitting value between the energy compensation curve segmentation areas has no jump. Compared with the prior art, the beneficial effect of the laser ranging energy compensation calculation device provided by the present application is the same as the beneficial effect of the laser ranging energy compensation calculation method provided by the above embodiment, and the other technical features in the laser ranging energy compensation calculation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0069] It should be understood that the various parts disclosed in this application can be implemented by 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 one or more embodiments or examples in a suitable manner.

[0070] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0071] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the laser ranging energy compensation calculation method in the above-mentioned embodiment.

[0072] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0073] The computer-readable storage medium may be included in the laser ranging energy compensation calculation device; or may exist independently without being assembled into the laser ranging energy compensation calculation device.

[0074] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the laser ranging energy compensation calculation device, the laser ranging energy compensation calculation device: obtains laser ranging energy compensation sample data points; obtains multiple target segments according to the laser ranging energy compensation sample data points; fits the target segments by a preset fitting algorithm to obtain initial fitting results; calculates a total error according to the initial fitting results; and obtains a target fitting result according to the total error and the initial fitting result.

[0075] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may 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 may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0076] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0077] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0078] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned laser ranging energy compensation calculation method, and can solve the technical problem of how to automatically divide the curve segmentation area and ensure that the fitting value between the energy compensation curve segmentation areas has no jump. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the laser ranging energy compensation calculation method provided by the above-mentioned embodiment, and will not be repeated here.

[0079] The present application also provides a computer program product, including a computer program, which implements the steps of the laser ranging energy compensation calculation method as described above when executed by a processor.

[0080] The computer program product provided by the present application can solve the technical problem of how to automatically divide the curve segmentation area and ensure that the fitting value between the energy compensation curve segmentation areas has no jump. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the laser ranging energy compensation calculation method provided by the above embodiment, which will not be repeated here.

[0081] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A laser ranging energy compensation calculation method, characterized in that: The method includes: Obtain laser ranging energy compensation sample data points; Obtaining a plurality of target segments according to the laser ranging energy compensation sample data points; Fitting the target segment by a preset fitting algorithm to obtain an initial fitting result; Calculating a total error based on the initial fitting result; A target fitting result is obtained according to the total error and the initial fitting result.

2. The method according to claim 1, characterized in that The step of obtaining a plurality of target segments according to the laser ranging energy compensation sample data points comprises: Randomly select segmentation points according to the laser ranging energy compensation sample data points; According to the segmentation points, a plurality of target segments are obtained.

3. The method according to claim 2, characterized in that The step of randomly selecting segmentation points according to the laser ranging energy compensation sample data points comprises: Determining the number of segments according to the laser ranging energy compensation sample data points; According to the number of segments, segmentation points are randomly selected.

4. The method according to claim 1, characterized in that The preset fitting algorithm includes the least squares method, and the step of fitting the target segment by the preset fitting algorithm to obtain an initial fitting result includes: Determining a calculation model and an error function according to the target segmentation; According to the calculation model and the error function, the initial fitting result is obtained.

5. The method according to claim 1, characterized in that The step of calculating the total error according to the initial fitting result comprises: According to the initial fitting result, the total number of segments, fitting error, fitting function and segmentation points are obtained; A total error is calculated according to the total number of segments, the fitting error, the fitting function and the segmentation points.

6. The method according to claim 1, characterized in that The step of obtaining a target fitting result according to the total error and the initial fitting result comprises: If the total error does not meet the error requirement, returning to the step of compensating the sample data points according to the laser ranging energy to obtain a plurality of target segments; If the total error meets the error requirement, the initial fitting result is used as the target fitting result.

7. The method according to claim 5, characterized in that If the total error does not meet the error requirement, then returning to the step of randomly selecting segmentation points according to the laser ranging energy compensation sample data points to obtain multiple target segments, the step further includes: Get the maximum preset number of iterations; If the total error does not meet the error requirement, the process returns to the step of compensating the sample data points according to the laser ranging energy to obtain a plurality of target segments until a preset maximum number of iterations is reached.

8. A laser ranging energy compensation calculation device, characterized in that: The device comprises: An acquisition module is used to acquire laser ranging energy compensation sample data points; A segmentation module randomly selects segmentation points according to the laser ranging energy compensation sample data points to obtain multiple target segments; A fitting module, which fits the target segment by a preset fitting algorithm to obtain an initial fitting result; A calculation module, calculating a total error according to the initial fitting result; The iterative module obtains a target fitting result according to the total error and the initial fitting result.

9. A laser ranging energy compensation calculation device, characterized in that: The device comprises: 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 ranging energy compensation calculation method according to any one of claims 1 to 7.

10. 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 a processor, the steps of the laser ranging energy compensation calculation method according to any one of claims 1 to 7 are implemented.

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