Laser point cloud data processing method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a laser point cloud data processing method and device, equipment and a storage medium, and the method comprises the steps: determining whether a head-end channel in an upper edge channel group and a tail-end channel in a lower edge channel group have crosstalk data or not according to the measurement data corresponding to the upper edge channel group and the lower edge channel group; under the condition that the crosstalk data exist in the head-end channel, updating the measurement data corresponding to the head-end channel to zero so as to obtain head-end measurement data; under the condition that the crosstalk data exist in the tail end channel, updating the measurement data corresponding to the tail end channel to zero so as to obtain tail end measurement data; and taking the head end measurement data, the measurement data corresponding to the middle channel group and the tail end measurement data as target point cloud data.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a laser point cloud data processing method, device, equipment and storage medium. Background Art

[0002] LiDAR has the advantage of high measurement accuracy. It is a measuring device that obtains information about the surrounding environment by emitting laser beams and processing the returned laser energy. Its measurement accuracy can usually reach the centimeter level or even the millimeter level. This high accuracy makes LiDAR have high application value in the fields of unmanned driving, robot navigation, terrain mapping, etc.

[0003] However, after the laser beam emitted by the LiDAR interacts with the scene objects, for example, after being reflected or scattered by the scene objects, the LiDAR will receive the laser energy returned by the scene objects, and this laser energy will form a light spot on the receiving unit of the LiDAR. This light spot contains not only the main light spot, but also stray light spots. The presence of stray light spots will cause the edge of the object in the corresponding point cloud image to expand. Summary of the invention

[0004] In view of this, in order to at least solve the technical problem that the edges of objects in the point cloud image of the laser radar expand in the vertical direction due to the presence of stray light spots, the purpose of the present invention is to provide a laser point cloud data processing method, device, equipment and storage medium.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] A first aspect of an embodiment of the present invention provides a laser point cloud data processing method.

[0007] Used to process data received by a laser radar, the receiving unit of the laser radar includes a plurality of first redundant sensors, a plurality of target sensors and a plurality of second redundant sensors arranged in sequence along the vertical direction; a first set number of target sensors adjacent to the first redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of first redundant sensors form an upper edge channel group; a second set number of target sensors adjacent to the second redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of second redundant sensors form a lower edge channel group; and receiving channels corresponding to the remaining target sensors form a middle channel group;

[0008] The method comprises:

[0009] Determine whether there is crosstalk data in the head channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group; wherein the head channel is a receiving channel corresponding to a target sensor in the upper edge channel group that is closest to the first redundant sensor, and the end channel is a receiving channel corresponding to a target sensor in the lower edge channel group that is closest to the second redundant sensor;

[0010] In the case where crosstalk data exists in the head-end channel, updating the measurement data corresponding to the head-end channel to zero to obtain the head-end measurement data;

[0011] In the case where crosstalk data exists in the end channel, updating the measurement data corresponding to the end channel to zero to obtain the end measurement data;

[0012] The head end measurement data, the measurement data corresponding to the middle channel group and the terminal measurement data are used as target point cloud data.

[0013] In an optional embodiment, the measurement data includes a distance value and a reflectivity value; the reflectivity value is used to determine a reflectivity level corresponding to a receiving channel;

[0014] In the case where a complete point cloud image is formed based on a frame of measurement data, the step of determining whether there is crosstalk data between a head channel in the upper edge channel group and a terminal channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group comprises:

[0015] When the distance values ​​corresponding to the channels in the upper edge channel group are within the set distance range and the reflectivity levels corresponding to the channels in the upper edge channel group are the set reflectivity levels corresponding to the channels, it is determined that the head-end channel in the upper edge channel group has crosstalk data;

[0016] When the distance value corresponding to each channel in the lower edge channel group belongs to the set distance range and the reflectivity level corresponding to each channel in the lower edge channel group is the corresponding set reflectivity level, it is determined that crosstalk data exists in the end channel of the lower edge channel group.

[0017] In an optional embodiment, the measurement data includes a distance value and a reflectivity value; the reflectivity value is used to determine a reflectivity level corresponding to a receiving channel;

[0018] In the case where a complete point cloud image is formed by sequentially stitching multiple frames of continuous measurement data in a vertical direction, the step of determining whether there is crosstalk data between a head channel in the upper edge channel group and a terminal channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group comprises:

[0019] For the first frame of measurement data in the multiple frames of measurement data, when the first frame distance values ​​corresponding to each channel in the upper edge channel group belong to the set distance range, and the first frame reflectivity levels corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the first frame of measurement data corresponding to the head-end channel in the upper edge channel group;

[0020] For the last frame of measurement data in the multiple frames of measurement data, when the last frame distance value corresponding to each channel in the lower edge channel group belongs to the set distance range, and the last frame reflectivity level corresponding to each channel in the lower edge channel group is the set reflectivity level corresponding to each channel, it is determined that there is crosstalk data in the last frame of measurement data corresponding to the end channel in the lower edge channel group;

[0021] For each currently processed frame measurement data except the last frame measurement data, when the currently processed frame distance value corresponding to each channel in the lower edge channel group and the next frame distance value corresponding to each channel in the upper edge channel group belong to the set distance range, and the currently processed frame reflectivity level corresponding to each channel in the lower edge channel group and the next frame reflectivity level corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the currently processed frame measurement data corresponding to the end channel;

[0022] For each currently processed frame measurement data except the first frame measurement data, when the currently processed frame distance value corresponding to each channel in the upper edge channel group and the previous frame distance value corresponding to each channel in the lower edge channel group belong to their respective set distance ranges, and the currently processed frame reflectivity level corresponding to each channel in the upper edge channel group and the previous frame reflectivity level corresponding to each channel in the lower edge channel group are their respective corresponding set reflectivity levels, it is determined that crosstalk data exists in the currently processed frame measurement data corresponding to the head-end channel connection.

[0023] In an optional implementation manner, the channel numbers of different receiving channels are different from each other; in the upper edge channel group, the middle channel group and the lower edge channel group, the process of acquiring the measurement data corresponding to each channel includes:

[0024] Obtain the target facets corresponding to the collected data currently output by all receiving channels;

[0025] Determine the channel calibration value of each receiving channel corresponding to the target facet according to a pre-stored facet calibration table; wherein the facet calibration table stores the channel calibration value between each facet in the prism of the laser radar and each receiving channel;

[0026] For each receiving channel, updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet;

[0027] For each channel in the upper edge channel group, the middle channel group and the lower edge channel group, the measurement data received by the original channel corresponding to the updated channel number of the channel is used as the measurement data of the channel.

[0028] In an optional implementation, when the target facet is a plane, the step of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet includes:

[0029] Updating the channel number of the receiving channel to the difference between the original channel number of the receiving channel and the corresponding channel calibration value;

[0030] Among them, when the spire difference between the target facet and the motor rotation axis of the laser radar is a positive value, the channel calibration value of each receiving channel corresponding to the target facet is a positive value; when the spire difference between the target facet and the motor rotation axis is a negative value, the channel calibration value of each receiving channel corresponding to the target facet is a negative value; when there is no spire difference between the target facet and the motor rotation axis, the channel calibration value of each receiving channel corresponding to the target facet is zero.

[0031] In an alternative embodiment,

[0032] In the case where the target facet is a curved surface, the facet calibration table further stores channel calibration values ​​between different angle ranges of each facet in the prism and each receiving channel;

[0033] The step of obtaining the target facet corresponding to the collected data currently output by all receiving channels comprises:

[0034] Determine the corresponding target facet and the angular position of the target facet according to the motor angle corresponding to the point cloud data;

[0035] The step of determining the channel calibration value of each receiving channel corresponding to the target facet according to the pre-stored facet calibration table comprises:

[0036] Determine, according to the angular position of the target facet, a target angle range corresponding to the target facet in the facet calibration table;

[0037] According to the facet calibration table of the target facet, a channel calibration value of each receiving channel corresponding to the target angle range is determined.

[0038] In an optional embodiment, the different angle ranges include a plurality of first angle ranges for characterizing that there is a positive spire difference between the facet and the motor rotation axis of the laser radar, a reference angle range for characterizing that there is no spire difference between the facet and the motor rotation axis of the laser radar, and a plurality of second angle ranges for characterizing that there is a negative spire difference between the facet and the motor rotation axis of the laser radar; different first angle ranges characterize positive spire differences of different sizes, and different second angle ranges characterize negative spire differences of different sizes;

[0039] The step of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet comprises:

[0040] Updating the channel number of the receiving channel to the difference between the original channel number of the receiving channel and the channel calibration value corresponding to the target angle range;

[0041] Wherein, when the target angle range is the first angle range, the calibration value is a positive value, and the magnitude of the calibration value is positively correlated with the magnitude of the positive spire difference; when the target angle range is the reference angle range, the calibration value is zero; when the target angle range is the second angle range, the calibration value is a negative value, and the magnitude of the absolute value of the calibration value is positively correlated with the magnitude of the negative spire difference. .

[0042] According to a second aspect of an embodiment of the present invention, a laser point cloud data processing device is provided, which is used to process data received by a laser radar, wherein a receiving unit of the laser radar includes a plurality of first redundant sensors, a plurality of target sensors, and a plurality of second redundant sensors which are arranged in sequence and spaced in a vertical direction; a first set number of target sensors adjacent to the first redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of first redundant sensors respectively form an upper edge channel group; a second set number of target sensors adjacent to the second redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of second redundant sensors respectively form a lower edge channel group; and receiving channels corresponding to the remaining target sensors form a middle channel group;

[0043] The device comprises:

[0044] A crosstalk determination module is configured to: determine whether there is crosstalk data in a head channel in the upper edge channel group and a tail channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group; wherein the head channel is a receiving channel corresponding to a target sensor in the upper edge channel group that is closest to the first redundant sensor, and the tail channel is a receiving channel corresponding to a target sensor in the lower edge channel group that is closest to the second redundant sensor;

[0045] The data updating module is configured to: when there is crosstalk data in the head-end channel, update the measurement data corresponding to the head-end channel to zero to obtain the head-end measurement data; when there is crosstalk data in the tail-end channel, update the measurement data corresponding to the tail-end channel to zero to obtain the tail-end measurement data;

[0046] The target point cloud data acquisition module is configured to use the head end measurement data, the measurement data corresponding to the middle channel group and the terminal measurement data as target point cloud data.

[0047] According to a third aspect of an embodiment of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the laser point cloud data processing method provided in the first aspect above.

[0048] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the laser point cloud data processing method provided in the first aspect is implemented.

[0049] The laser point cloud data processing method, device, equipment and storage medium provided by the embodiments of the present invention divide the receiving channels corresponding to the sensors related to the data at the upper edge and lower edge of the target object into an upper edge channel group and a lower edge channel group according to the characteristic that the expansion phenomenon appears more obviously at the upper edge and lower edge of the target object in the point cloud image in the vertical direction, and determine whether there is crosstalk data in the head channel related to the upper edge imaging and a certain end channel related to the lower edge imaging based on the measurement data of the upper edge channel group and the lower edge channel group. If there is crosstalk data, it means that the expansion phenomenon will be caused. In this case, by updating the measurement data corresponding to the head channel and the end channel where the crosstalk data exists to zero, the measurement data of the head channel and the end channel are marked invalid, thereby solving the problem of expansion of the upper and lower edges of the point cloud image caused by the crosstalk data of the head channel and the end channel, thereby making the size measurement of the target object more accurate and helping to improve the image quality.

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0052] Figure 1a A schematic diagram showing the composition of a laser radar spot provided by an embodiment of the present invention is shown;

[0053] Figure 1b A schematic diagram of the energy of a laser radar spot provided by an embodiment of the present invention is shown;

[0054] Figure 2a A schematic diagram showing the relative positions between a light spot and a scene object provided by an embodiment of the present invention is shown;

[0055] Figure 2b Another schematic diagram of relative positions between a light spot and a scene object provided by an embodiment of the present invention is shown;

[0056] Figure 2c A schematic diagram showing the relative positions between another light spot and a scene object provided by an embodiment of the present invention is shown;

[0057] Figure 2d A schematic diagram showing the relative positions between another light spot and a scene object provided by an embodiment of the present invention is shown;

[0058] Figure 2e A schematic diagram showing a comparison between the actual size of a scene object and the size measured by a laser radar provided in an embodiment of the present invention;

[0059] Figure 3 A structural block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0060] Figure 4 A structural block diagram of a receiving unit of a laser radar provided in an embodiment of the present invention is shown;

[0061] Figure 5 A flowchart of a laser point cloud data processing method provided by an embodiment of the present invention is shown;

[0062] Figure 6a A perspective view of the three-dimensional structure of a prism provided by an embodiment of the present invention is shown;

[0063] Figure 6b Shows Figure 6a The cross section of the prism in FIG. 1 is a schematic diagram of a regular polygon;

[0064] Figure 6c Shows Figure 6a Schematic diagram of the parallel relationship between the baa'b' plane in the prism and the rotating shaft of the motor driving the prism to rotate;

[0065] Figure 7 A comparison schematic diagram of two triangular prisms with axial ratio errors provided by an embodiment of the present invention is shown;

[0066] Figure 8 A schematic diagram showing a comparison of optical paths of two prisms with radial ratio errors provided by an embodiment of the present invention is shown;

[0067] Figure 9a A schematic diagram showing the relationship between each facet of a prism and the axis of a motor rotating shaft provided by an embodiment of the present invention;

[0068] Figure 9b A schematic diagram showing the relationship between each facet of another prism provided by an embodiment of the present invention and the axis of the motor rotating shaft is shown;

[0069] Fig.9c A schematic diagram showing an error of a curved edge face relative to a flat edge face provided by an embodiment of the present invention is shown;

[0070] Figure 9d A schematic diagram of a curved facet with a continuous spire difference change rate provided by an embodiment of the present invention is shown;

[0071] Fig.10a A schematic diagram showing pixel loss in a point cloud image provided by an embodiment of the present invention is shown;

[0072] Fig.10b A complete schematic diagram of a point cloud image provided by an embodiment of the present invention is shown;

[0073] Fig.10c A schematic diagram showing another point cloud image with missing pixels provided by an embodiment of the present invention is shown;

[0074] Fig.10d A schematic diagram showing a point cloud image provided by an embodiment of the present invention in which both lower and upper pixel portions are missing;

[0075] Fig.10e A complete schematic diagram of a point cloud image provided by an embodiment of the present invention is shown;

[0076] Fig.10fA schematic diagram showing another point cloud image provided by an embodiment of the present invention in which both lower and upper pixel portions are missing;

[0077] Figure 10g A schematic diagram showing a comparison between a point cloud image with point cloud stratification phenomenon and a theoretical image provided by an embodiment of the present invention;

[0078] Fig.10h A schematic diagram showing a comparison between another point cloud image with point cloud stratification phenomenon and a theoretical image provided by an embodiment of the present invention;

[0079] Fig.11 A schematic diagram of the spire difference of a curved facet at different angles provided by an embodiment of the present invention is shown;

[0080] Fig.12 A functional module diagram of a laser point cloud data processing device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0081] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0082] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0083] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0084] During the scanning process of the laser radar, after the laser beam emitted by it is acted upon by the scene objects and returns to the receiving unit of the laser radar, a light spot containing a main light spot and a stray light spot will be formed in the receiving unit of the laser radar, such as Figure 1a As shown, Figure 1a This is a schematic diagram of the composition of a laser radar spot provided by an embodiment of the present invention. Ignoring the particle density distribution of the laser along the Z axis (i.e., the direction of beam propagation), assuming that the photon is in an extremely thin two-dimensional plane, such as the XOY plane in Figure 1, the main spot is distributed in the elliptical area indicated by -y1 to y1 along the Y axis, as shown in the yellow area, and the stray spots are distributed in the elliptical ring area indicated by y1 to y2 and -y1 to -y2, as shown in the pink area. It can be seen that the stray spots are distributed in the horizontal and vertical directions, but in the embodiment of the present invention, the focus is on the stray spots in the vertical direction, so the stray spots in the horizontal direction are not introduced in detail.

[0085] As an example, see Figure 1b , Figure 1b This is a schematic diagram of the energy of a laser radar spot provided by an embodiment of the present invention. From the energy distribution point of view, the energy in the center area of ​​the main spot is very high, and its energy range is 1.0 to As shown in the yellow area, the stray light energy is relatively low, and its energy range is To 1%, as shown in the pink area. It can be seen that the height of the main spot in the vertical direction is 2*y1, and the height of the stray spot in the vertical direction is: y2-y1 on the upper and lower sides of the main spot. This is just an example, and there may be different performances in different LiDAR systems.

[0086] During the radar scanning process, take a static target object with high reflectivity as an example, such as a stationary STOP sign, to illustrate the impact of the vertical movement of the light spot from top to bottom on the point cloud image:

[0087] See also Figure 2a , Figure 2a An embodiment of the present invention provides a schematic diagram of the relative position between a light spot and a scene object. In the figure, neither the main light spot nor the stray light spot falls on the high-reflectivity target object, no laser energy returns to the receiving unit of the laser radar, and no point cloud image is formed.

[0088] See also Figure 2b , Figure 2b This is another schematic diagram of the relative position between a light spot and a scene object provided by an embodiment of the present invention. As the radar continues to scan downward, when the edge of the light spot approaches the upper edge of a high-reflectivity target object, the stray light spot forms reflected laser energy on the high-reflectivity target object and returns to the receiving unit of the lidar, thereby generating false target information, which leads to expansion on the upper side of the point cloud image.

[0089] See also Figure 2c , Figure 2c It is another schematic diagram of the relative position between a light spot and a scene object provided by an embodiment of the present invention. As the radar continues to scan downward, when the edge of the light spot leaves the lower edge of the highly reflective target object, similarly, the stray light spot forms reflected laser energy on the highly reflective target object and returns to the receiving unit of the laser radar, thereby generating false target information, resulting in expansion on the lower side of the point cloud image.

[0090] See also Figure 2d , Figure 2d It is another schematic diagram of the relative position between a light spot and a scene object provided by an embodiment of the present invention. As the radar continues to scan downward, the main light spot and the stray light spot are completely away from the high-reflectivity target object, no laser energy returns to the receiving unit of the laser radar, and no point cloud image is formed.

[0091] See also Figure 2e , Figure 2e is a schematic diagram of a comparison between the actual size of a scene object and the size measured by a laser radar, provided by an embodiment of the present invention. Figure 2a to Figure 2b In the radar scanning process shown in the figure, the measured size of the target object finally measured by the lidar, as shown in the black area, is significantly larger than the actual size of the target object, as shown in the red area. It can be seen that the point cloud expansion effect caused by stray light spots will cause the lidar to measure the size of the object in the vertical direction larger than the actual size.

[0092] Therefore, in order to solve the technical problem that the edge of an object in a laser radar point cloud image has an expansion phenomenon in the vertical direction due to the presence of stray light spots, an embodiment of the present invention provides a laser point cloud data processing method. According to the characteristic that the expansion phenomenon appears more obviously at the upper and lower edges of the target object in the point cloud image in the vertical direction, the receiving channels corresponding to the sensor related to the data at the upper and lower edges of the target object are divided into an upper edge channel group and a lower edge channel group, and based on the measurement data of the upper edge channel group and the lower edge channel group, it is determined whether there is crosstalk data in the head channel related to the upper edge imaging and a certain end channel related to the lower edge imaging. If there is crosstalk data, it means that the expansion phenomenon will be caused. In this case, by updating the measurement data corresponding to the head channel and the end channel where the crosstalk data exists to zero, the measurement data of the head channel and the end channel are marked invalid, thereby solving the problem of the expansion of the upper and lower edges of the point cloud image caused by the crosstalk data of the head channel and the end channel, thereby making the size measurement of the target object more accurate and helping to improve the image quality.

[0093] The laser point cloud data processing method provided by the present invention can be applied to electronic devices, please refer to Figure 3 , Figure 3 1 is a block diagram of an electronic device provided by an embodiment of the present invention. The electronic device 100 includes a memory 110, a processor 120 and a communication module 130. The memory 110, the processor 120 and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0094] The memory is used to store programs or data. The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0095] The processor is used to read / write data or programs stored in the memory and execute corresponding functions.

[0096] The communication module is used to establish a communication connection between the electronic device and other communication terminals through a network, and is used to send and receive data through the network.

[0097] It should be understood that Figure 3 The structure shown is only a schematic diagram of the structure of the electronic device, and the electronic device may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown. Figure 3 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0098] In some embodiments, the electronic device may be a processing module of the laser radar, or a control module on a carrier that carries the laser radar, which is not limited in this embodiment of the present invention.

[0099] like Figure 4 As shown, Figure 4 is a structural block diagram of a receiving unit of a laser radar provided in an embodiment of the present invention. The receiving unit of the laser radar may include a plurality of first redundant sensors (such as Figure 4middle sensor (-m+1)~0), multiple target sensors (such as Figure 7 Sensors 1 to N in the example) and multiple second redundant sensors (such as Figure 7 Sensors N+1 to N+n-1 in the figure); each sensor is configured with its own receiving channel, and the channel numbers of different receiving channels are different. The channel number can be Figure 7 The value after each sensor in is, for example, -m+1, -m+2, ..., -1, 0, 1, 2 ... N-1, N, N+1, N+2 ... N+n-1, N+n. Wherein, m represents the total number of first redundant sensors, N represents the total number of target sensors, and n represents the total number of second redundant sensors. The values ​​of m and n can be the same or different, and N can be set according to the required detection accuracy of the laser radar, for example, it can be 64, it can also be 128, or even more or less.

[0100] In the above, a first set number of target sensors adjacent to the first redundant sensor among the multiple target sensors and the receiving channels corresponding to the multiple first redundant sensors form an upper edge channel group; a second set number of target sensors adjacent to the second redundant sensor among the multiple target sensors and the receiving channels corresponding to the multiple second redundant sensors form a lower edge channel group; and the receiving channels corresponding to the remaining target sensors form a middle channel group. The first set number and the second set number may be the same, for example, both are 2, or may be different.

[0101] To facilitate the following description, in an embodiment of the present invention, the head-end channel is defined as a receiving channel corresponding to a target sensor in the upper edge channel group that is closest to the first redundant sensor, and the end channel is defined as a receiving channel corresponding to a target sensor in the lower edge channel group that is closest to the second redundant sensor.

[0102] In some embodiments, in order to ensure that the laser radar has high detection accuracy while solving the stratification or jitter problems of the point cloud image, the total number N of target sensors can be configured so that the receiving range of the N target sensors is greater than or equal to the optical receiving aperture of the prism L. Therefore, after adding m first redundant sensors and n second redundant sensors, the receiving range of the receiving unit can be expanded, and more laser energy can be received after passing through the prism.

[0103] In some embodiments, the prism of the laser radar can be a triangular prism, and its scanning method is a prism combined with a galvanometer. There can be 16 target sensors, that is, N=16; there can be 4 first redundant sensors, that is, m=4; and there can also be 4 second redundant sensors, that is, n=4.

[0104] Based on this, the above receiving unit can be configured for the laser radar during the production stage. However, in order to be applicable to existing laser radars, for example, laser radars with receiving units configured according to the above structure, so that these laser radars can also apply the laser point cloud data processing method provided by the embodiment of the present invention to solve the problem of point cloud jitter or stratification, the sensor configuration method of the above receiving unit provided by the embodiment of the present invention can be used to divide the sensors in the receiving unit into a first redundant sensor located relatively above, a target sensor located in the middle, and a second redundant sensor located relatively below.

[0105] The following is an introduction to the inventive concept of the laser point cloud data processing method provided by an embodiment of the present invention:

[0106] Case 1: The light spot is irradiated on a non-high reflectivity object

[0107] For non-high reflectivity objects (low reflectivity or normal reflectivity), since the energy of the stray light spot itself is small, the energy of the laser energy reflected back by the non-high reflectivity object is also small, and the laser energy is injected into the attenuation band outside the prism aperture, resulting in the light energy actually reaching the first redundant sensor and the second redundant sensor being extremely small, insufficient to trigger the sensor's detection threshold. Therefore, in the end, only the laser energy in the main light spot area can return to the sensor array, that is, only the target sensor has an actual ranging signal output.

[0108] Therefore, in the case of non-high reflectivity objects, the sensor array in the receiving unit can only detect the reflected energy of the main light spot, which will not cause expansion.

[0109] Case 2: The light spot is completely illuminated by a high reflectivity object

[0110] In this case, the signal energy received by the edge channels in the target sensor array of the laser radar is already very strong, and there is no expansion phenomenon. In N = 128, the edge channels refer to the receiving channels corresponding to the first and last target sensors in the target sensor array, that is, receiving channel 1 and receiving channel 128.

[0111] Therefore, when the light spot is completely illuminated on the high reflectivity object, there is no expansion phenomenon.

[0112] Case 3: When the edge of the light spot coincides with the edge of a high-reflectivity object

[0113] In this case, the stray light spot is irradiated on the high reflectivity object, and the reflected light energy of the stray light spot is relatively strong. After passing through the attenuation band outside the aperture of the laser radar receiving unit, it actually reaches the first redundant sensor (i.e., the first redundant sensor) closest to the target sensor 1. Figure 4Sensor 0 shown), and the second redundant sensor closest to the target sensor N (i.e. Figure 4 The light energy of the sensor N+1) shown is relatively large and meets the detection threshold of the sensor, so that the receiving channels corresponding to the first redundant sensor 0 and the second redundant sensor N+1 output ranging signals.

[0114] In addition, part of the reflected laser energy from the stray light spot can also reach N target sensors and combine with the laser energy reflected from the main light spot to trigger the target sensors to work.

[0115] Therefore, in the presence of a high reflectivity object, the first redundant sensor 0, the N target sensors and the second redundant sensor N+1 in the receiving unit can all detect the reflected energy of the stray light spot.

[0116] Based on this, when the edge of the light spot scans a high-reflectivity object, since the edge of the light spot is a stray light spot, the reflected energy of the stray light spot simultaneously triggers N target sensors and redundant sensors to generate ranging signals. For example, when the bottom edge of the light spot scans a high-reflectivity object, the reflected energy of the stray light spot simultaneously triggers N target sensors and 1 or m first redundant sensors to generate ranging signals; and when the top edge of the light spot scans a high-reflectivity object, the reflected energy of the stray light spot simultaneously triggers N target sensors and 1 or n second redundant sensors to generate ranging signals.

[0117] But in fact, there is no real reflecting object in the real light path of the main light spot corresponding to the N target sensors. It can be seen that the ranging signal generated by the N target sensors is a false signal, which causes the measurement result to mistakenly believe that there is an object at the corresponding position, and finally forms a high-reflection expansion phenomenon on the point cloud image, that is, one pixel is expanded in the vertical direction.

[0118] In summary, whether there is a high-reflection expansion phenomenon in the point cloud image can be determined based on the data of the edge channel and the adjacent redundant channel in the receiving unit to determine whether the laser energy received by the edge channel is the energy reflected back from the real main light spot, or the high-reflection expansion phenomenon caused by the light energy reflected back from the stray light spot.

[0119] Taking N=128 as an example, the edge channel mentioned above refers to the target sensor at the edge position in the target sensor array. For example, the receiving channels of the top three target sensors in the target sensor array are selected as edge channels, and the receiving channels of the bottom three target sensors are also selected as edge channels. Based on this, the edge channels are the receiving channels corresponding to target sensors 1, 2, 3, 126, 127 and 128. Correspondingly, the redundant channels refer to the receiving channels corresponding to the first redundant sensor and the second redundant sensor. From this example, it can be seen that the receiving channels corresponding to the top three target sensors and m first redundant sensors constitute the above-mentioned upper edge channel group, the receiving channels corresponding to the bottom three target sensors and n second redundant sensors constitute the above-mentioned lower edge channel group, and the receiving channels corresponding to the remaining target sensors constitute the middle channel group. The receiving channel corresponding to target sensor 1 is the head channel, and the receiving channel corresponding to target sensor 128 is the end channel.

[0120] Based on this, when a high anti-expansion phenomenon occurs, it is usually the head-end channel and the end-end channel that receive the light energy generated by the stray light spot. Therefore, the data received by the head-end channel and the end-end channel can be processed intensively.

[0121] Based on the inventive concept, the embodiment of the present invention proposes a laser point cloud data processing method. Figure 5 The laser point cloud data processing method provided by the embodiment of the present invention is described. Figure 5 : is a flow chart of a laser point cloud data processing method provided by an embodiment of the present invention, the laser point cloud data processing method comprising:

[0122] In step S1000, according to the measurement data corresponding to the upper edge channel group and the lower edge channel group, it is determined whether there is crosstalk data for the head end channel in the upper edge channel group and the end channel in the lower edge channel group;

[0123] In step S2000, when there is crosstalk data in the head-end channel, the measurement data corresponding to the head-end channel is updated to zero to obtain the head-end measurement data;

[0124] In step S3000, when there is crosstalk data in the end channel, the measurement data corresponding to the end channel is updated to zero to obtain the end measurement data;

[0125] In step S4000, the head-end measurement data, the measurement data corresponding to the middle channel group, and the terminal measurement data are used as target point cloud data.

[0126] During the operation of the laser radar or after completing the collection of a complete frame of point cloud data, the laser radar point cloud data processing method provided by the embodiment of the present invention can be executed for the point cloud data received by all receiving channels in the laser radar. First, it is judged whether there is crosstalk data for the head-end channel and the end channel. It can also be understood as first judging whether an expansion phenomenon will occur, and then determining whether to invalidate the measurement data received when the head-end channel and / or the end channel is based on the judgment result, so as to achieve the result that there is no expansion phenomenon at the upper and lower edges of the obtained point cloud image.

[0127] In the process of executing the laser point cloud data processing method provided by the embodiment of the present invention, step S1000 may be first performed to determine whether crosstalk data exists between the head channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group. The measurement data includes a distance value and a reflectivity value.

[0128] For step S1000, the embodiment of the present invention provides corresponding implementation solutions for two situations:

[0129] In the first case, when a complete point cloud image is formed based on a frame of measurement data:

[0130] In the above step S1000, the step of determining whether there is crosstalk data between the head end channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group includes:

[0131] In step S1110, when the distance values ​​corresponding to the channels in the upper edge channel group are within the set distance range and the reflectivity levels corresponding to the channels in the upper edge channel group are the set reflectivity levels corresponding to the channels, it is determined that the head-end channel in the upper edge channel group has crosstalk data;

[0132] In step S1120, when the distance value corresponding to each channel in the lower edge channel group is within the set distance range and the reflectivity level corresponding to each channel in the lower edge channel group is the corresponding set reflectivity level, it is determined that crosstalk data exists in the end channel of the lower edge channel group.

[0133] The following example illustrates the relevant technical principles of step S1110 and step S1120:

[0134] Assume that the upper edge channel group includes 3 channels, 2 of which are redundant channels corresponding to the two first redundant sensors, and the other one is the head end channel. The lower edge channel group also includes 3 channels, 2 of which are redundant channels corresponding to the two second redundant sensors, and the other one is the end channel.

[0135] For ease of description, the two redundant channels in the upper edge channel group and the lower edge channel group, the redundant channel corresponding to the redundant sensor located relatively above in the vertical direction is called the upper redundant channel, and the other redundant channel is called the lower redundant channel.

[0136] Assume that the distance values ​​corresponding to the two redundant channels in the upper edge channel group are X1 and X2, respectively, and the distance value corresponding to the head-end channel is X3. In this way, if the deviation between each two distance values ​​among the three distance values ​​is less than the set distance threshold, it can be considered that the distance values ​​corresponding to each channel in the upper edge channel group are within the set distance range. The distance threshold can be obtained based on experience or experiment, for example, 0.2 meters.

[0137] The determination of the above distance values ​​may not be in any particular order, and it may be possible to simultaneously determine whether the reflectivity levels corresponding to the two redundant channels in the upper edge channel group and the reflectivity levels corresponding to the head-end channel are at their respective corresponding set reflectivity levels. The technical principle for calculating the reflectivity levels based on the reflection values ​​may be found in the relevant technology.

[0138] Based on the above invention concept, in the upper edge channel group, the upper redundant channel, the lower redundant channel and the head end channel respectively correspond to the set reflectivity level (used to characterize the level of the expansion phenomenon), and the inventors have studied and configured as follows:

[0139] Upper redundant channel in upper edge channel group: high reflectivity level;

[0140] Lower redundant channel in upper edge channel group: high reflectivity level or medium reflectivity level;

[0141] Head-end channel: high reflectivity level or medium reflectivity level or low reflectivity level.

[0142] In the above, a high reflectivity level indicates that the target object is a high reflectivity object, a medium reflectivity level indicates that the target object is a normal reflectivity object, and a low reflectivity level indicates that the target object is a low reflectivity object. The reflectivity value ranges corresponding to the high, medium, and low reflectivity levels can be obtained based on experience or experiments, and will not be described in detail here.

[0143] Therefore, during the execution of step S1110, if the distance values ​​corresponding to each channel in the upper edge channel group are within the set distance range, and the reflectivity value of the upper redundant channel is at a high reflectivity level, the reflectivity value of the lower redundant channel is at a high reflectivity level or a medium reflectivity level, and the reflectivity value of the head-end channel is at any reflectivity level, then it is determined that the head-end channel has crosstalk data, and then step S2000 will be executed. On the contrary, as long as one of the conditions is not met, it is determined that the head-end channel does not have crosstalk data, that is, there will be no expansion phenomenon, and the original data output by the head-end channel can continue to be used.

[0144] The execution order of step S1120 and step S1110 is not particular. The technical principle of determining whether there is crosstalk data in the end channel in step S1120 is the same as the technical principle of the above step S1110, wherein the configuration of the set reflectivity level corresponding to each channel in the lower edge channel group is also the same as the configuration principle of the set reflectivity level corresponding to each channel in the lower edge channel group, that is:

[0145] End channel: high reflectivity level or medium reflectivity level or low reflectivity level;

[0146] Upper redundant channel in the lower edge channel group: high reflectivity level or medium reflectivity level;

[0147] Lower redundant channel in the lower edge channel group: high reflectivity level.

[0148] Therefore, when a complete point cloud image is formed based on a frame of measurement data, it can be determined through steps S1110 and S1120 whether there is crosstalk data between the head-end channel and the end-end channel.

[0149] When there is interference data in the head-end channel, step S3000 is triggered to update the measurement data corresponding to the head-end channel to zero to obtain the head-end measurement data. It can be seen that the head-end measurement data has been marked as invalid data.

[0150] On the contrary, when there is no interference data in the head-end channel, the original data of the head-end channel is retained.

[0151] The execution order of step S3000 is irrelevant. When there is crosstalk data in the end channel, step S4000 is triggered to update the measurement data corresponding to the end channel to zero to obtain the end measurement data. It can be seen that the end measurement data has been marked as invalid data.

[0152] On the contrary, when there is no interference data in the end channel, the original data of the end channel is retained.

[0153] In the second case, a complete point cloud image is formed by stitching together multiple frames of measurement data in the vertical direction:

[0154] The step of determining whether there is crosstalk data between a head channel in the upper edge channel group and a tail channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group comprises:

[0155] In step S1210, for the first frame of measurement data in the multiple frames of measurement data, when the first frame distance values ​​corresponding to each channel in the upper edge channel group belong to the set distance range and the first frame reflectivity levels corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the first frame of measurement data corresponding to the head-end channel in the upper edge channel group;

[0156] In step S1220, for the last frame of measurement data in the multiple frames of measurement data, when the last frame distance value corresponding to each channel in the lower edge channel group belongs to the set distance range and the last frame reflectivity level corresponding to each channel in the lower edge channel group is the corresponding set reflectivity level, it is determined that crosstalk data exists in the last frame of measurement data corresponding to the end channel in the lower edge channel group;

[0157] In step S1230, for each currently processed frame measurement data except the last frame measurement data, when the currently processed frame distance value corresponding to each channel in the lower edge channel group and the next frame distance value corresponding to each channel in the upper edge channel group belong to the set distance range, and the currently processed frame reflectivity level corresponding to each channel in the lower edge channel group and the next frame reflectivity level corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that crosstalk data exists in the currently processed frame measurement data corresponding to the end channel;

[0158] In step S1240, for each currently processed frame measurement data except the first frame measurement data, when the currently processed frame distance value corresponding to each channel in the upper edge channel group and the previous frame distance value corresponding to each channel in the lower edge channel group belong to their respective set distance ranges, and the currently processed frame reflectivity level corresponding to each channel in the upper edge channel group and the previous frame reflectivity level corresponding to each channel in the lower edge channel group are their respective corresponding set reflectivity levels, it is determined that crosstalk data exists in the currently processed frame measurement data corresponding to the head-end channel connection.

[0159] Since the technical principles of step S1210 and the above-mentioned step S1110 are the same, and the technical principles of step S1220 and the above-mentioned step S1120 are the same, they will not be described in detail here.

[0160] The following example illustrates the relevant technical principles of step S1230 and step S1240:

[0161] In the process of determining the crosstalk data in step S1230 and step S1240, it is to determine whether there is expansion at the joint of each sub-image area in the middle area of ​​the point cloud image. Therefore, in addition to the upper edge in the first frame measurement data and the lower edge in the last frame measurement data, the determination of whether there is expansion at the joint of each image is determined by referring to the measurement data of two adjacent frames. For example, assuming that the current processing frame is the first frame, in determining whether there is expansion at the upper edge of the image formed by the first frame measurement data, only the first frame measurement data can be used for determination, and in determining whether there is expansion at the lower edge of the image formed by the first frame measurement data, since its lower edge needs to be spliced ​​with the upper edge of the second frame image, it is necessary to apply the first frame measurement data and the second frame measurement data for joint determination of expansion.

[0162] To simplify the explanation of the relevant technical principles, it is assumed that a complete point cloud image requires three frames of measurement data to be stitched together in sequence along the vertical direction. The three frames of measurement data are the first frame of measurement data, the second frame of measurement data, and the last frame of measurement data.

[0163] Assume that the upper edge channel group includes 4 channels, two of which are redundant channels corresponding to the two first redundant sensors, one is a head-end channel, and the remaining one is a non-head-end channel between the redundant channel and the head-end channel. The lower edge channel group also includes 4 channels, two of which are redundant channels corresponding to the two second redundant sensors, the remaining one is a terminal channel, and one is a non-terminal channel between the redundant channel and the terminal channel.

[0164] For ease of description, the two redundant channels in the upper edge channel group and the lower edge channel group, the redundant channel corresponding to the redundant sensor located relatively above in the vertical direction is called the upper redundant channel, and the other redundant channel is called the lower redundant channel.

[0165] Based on this, the technical principle of using the measurement data of two adjacent frames to determine whether there is expansion at the splicing point is explained below, taking the measurement data of the second frame as an example:

[0166] The purpose of the above step S1230 is to determine whether there is expansion at the lower edge of the point cloud image corresponding to the second frame measurement data. At this time, it is necessary to use the next frame measurement data of the second frame, that is, the third frame measurement data, to determine whether there is expansion at the lower edge.

[0167] Based on this, in the process of executing step S1230, the second frame distance values ​​corresponding to the four channels in the lower edge channel group can be obtained first; and the third frame distance values ​​corresponding to the four channels in the upper edge channel group can be obtained. In this way, if the distance value and the reflectivity level meet any of the following conditions, it is considered that there is crosstalk data in the second frame measurement data received by the end channel, that is, there is an expansion phenomenon.

[0168] Scenario 1:

[0169] For the distance value: in the lower edge channel group, the second frame distance value corresponding to the non-end channel is 0, and the third frame distance value corresponding to the upper redundant channel in the upper edge channel group is 0; among the second frame distance values ​​corresponding to the end channel and the upper redundant channel in the lower edge channel group, and the third frame distance values ​​corresponding to the lower redundant channel and the head end channel in the upper edge channel group, the deviation between each two distance values ​​is less than the set distance threshold.

[0170] For the reflectivity level: in the lower edge channel group, the second frame reflectivity level corresponding to the end channel is a medium reflectivity level or a low reflectivity level, and the second frame reflectivity level corresponding to the upper redundant channel is a high reflectivity level or a medium reflectivity level; in the upper edge channel group, the third frame reflectivity level corresponding to the upper redundant channel is a high reflectivity level or a medium reflectivity level, and the third frame reflectivity level corresponding to the head end channel is a high reflectivity level.

[0171] Scenario 2:

[0172] For the distance value: in the lower edge channel group, the second frame distance value corresponding to the upper redundant channel is 0; in the upper edge channel group, the third frame distance values ​​corresponding to the lower redundant channel and the head end channel are both 0. Among the second frame distance values ​​corresponding to the non-terminal channel and the terminal channel in the lower edge channel group, and the third frame distance value corresponding to the upper redundant channel in the upper edge channel group, the deviation between each two distance values ​​is less than the set distance threshold.

[0173] For the reflectivity level: in the lower edge channel group, the second frame reflectivity level corresponding to the non-end channel is a high reflectivity level, and the second frame reflectivity level corresponding to the end channel is a medium reflectivity level or a low reflectivity level; in the upper edge channel group, the third frame reflectivity level corresponding to the upper redundant channel is a medium reflectivity level or a low reflectivity level.

[0174] Scenario 3:

[0175] For the distance value: in the lower edge channel group, the second frame distance value corresponding to the other three channels except the lower redundant channel, and in the upper edge channel group, the third frame distance value corresponding to the other three channels except the non-head end channel, the deviation between each two distance values ​​is less than the set distance threshold.

[0176] For the reflectivity level: in the lower edge channel group, the second frame reflectivity level corresponding to the non-end channel is a high reflectivity level, and the second frame reflectivity level corresponding to the end channel and the upper redundant channel are both medium reflectivity levels or low reflectivity levels; in the upper edge channel group, the third frame reflectivity level corresponding to the upper redundant channel and the lower redundant channel are both medium reflectivity levels or low reflectivity levels, and the third frame reflectivity level corresponding to the head end channel is a high reflectivity level.

[0177] That is to say, in the process of executing step S1230, the data required for application in the processing process, such as distance value and reflectivity level, can be obtained according to the parameters mentioned in the above situations 1 to 3, and then the judgment strategy for distance value and reflectivity level in situations 1 to 3 can be used to determine whether the obtained distance value and reflectivity level meet the requirements of one of situations 1 to 3. If so, it means that crosstalk data exists in the measurement data of the current processing frame corresponding to the end channel. Continuing with the above example, it means that crosstalk data exists in the measurement data of the second frame corresponding to the end channel.

[0178] Based on this, each time it is determined that there is crosstalk data in the current processing frame measurement data received by the end channel, the current processing frame measurement data received by the end channel can be set to 0, for example, the distance value corresponding to the current processing frame is set to 0. In this way, all corresponding frame measurement data with crosstalk data in the end channel can be marked invalid.

[0179] Step S1240 and step S1230 are executed in no particular order. Similarly, the second frame of measurement data is used as a column to explain the technical principle of using two adjacent frames of measurement data to determine whether there is a dilation phenomenon at the splicing position:

[0180] The purpose of step S1240 is to determine whether there is expansion at the upper edge of the point cloud image corresponding to the second frame measurement data. At this time, it is necessary to use the previous frame measurement data of the second frame, that is, the first frame measurement data, to determine whether there is expansion at the upper edge.

[0181] Based on this, in the process of executing step S1240, the second frame distance values ​​corresponding to the four channels in the upper edge channel group can be obtained first; and the first frame distance values ​​corresponding to the four channels in the lower edge channel group can be obtained. In this way, if the distance value and the reflectivity level meet any of the following conditions, it is considered that there is crosstalk data in the second frame measurement data received by the head-end channel, that is, there is an expansion phenomenon.

[0182] Scenario 1:

[0183] For the distance value: the second frame distance value corresponding to the upper redundant channel in the upper edge channel group is 0, and the first frame distance value corresponding to the non-end channel in the lower edge channel group is 0; among the second frame distance values ​​corresponding to the head end channel and the lower redundant channel in the upper edge channel group, and the first frame distance values ​​corresponding to the upper redundant channel and the end channel in the lower edge channel group, the deviation between each two distance values ​​is less than the set distance threshold.

[0184] For the reflectivity level: in the upper edge channel group, the second frame reflectivity level corresponding to the head channel is a medium reflectivity level or a low reflectivity level, and the second frame reflectivity level corresponding to the lower redundant channel is a high reflectivity level or a medium reflectivity level; in the lower edge channel group, the first frame reflectivity level corresponding to the upper redundant channel is a high reflectivity level or a medium reflectivity level, and the first frame reflectivity level corresponding to the end channel is a high reflectivity level.

[0185] Scenario 2:

[0186] For the distance value: in the upper edge channel group, the second frame distance values ​​corresponding to the upper redundant channel and the lower redundant channel are all 0; in the lower edge channel group, the first frame distance values ​​corresponding to each of the four channels are all 0. The deviation between the second frame distance values ​​corresponding to the non-head-end channel and the head-end channel in the upper edge channel group is less than the set distance threshold.

[0187] Regarding the reflectivity level: in the upper edge channel group, the second frame reflectivity level corresponding to the head-end channel is a high reflectivity level or a medium reflectivity level, and the second frame reflectivity level corresponding to the non-head-end channel is a high reflectivity level.

[0188] Scenario 3:

[0189] For the distance value: the second frame distance value corresponding to the upper redundant channel in the upper edge channel group is 0, and the first frame distance value corresponding to the non-terminal channel in the lower edge channel group is 0. Among the second frame distance values ​​corresponding to the other three channels in the upper edge channel except the upper redundant channel, and the first frame distance values ​​corresponding to the other three channels in the lower edge channel group except the non-terminal channel, the deviation between each two distance values ​​is less than the set distance threshold.

[0190] For the reflectivity level: in the upper edge channel group, the second frame reflectivity level corresponding to the lower redundant channel is a medium reflectivity level or a low reflectivity level, the second frame reflectivity level corresponding to the head end channel is a high reflectivity level or a medium reflectivity level or a low reflectivity level, and the second frame reflectivity level corresponding to the non-head end channel is a high reflectivity level; in the lower edge channel group, the first frame reflectivity level corresponding to the end channel is a high reflectivity level, and the first frame reflectivity levels corresponding to the upper redundant channel and the lower redundant channel are both medium reflectivity levels or low reflectivity levels.

[0191] That is to say, in the process of executing step S1240, the data required for application in the processing process, such as distance value and reflectivity level, can be obtained according to the parameters mentioned in the above situations 1 to 3, and then the judgment strategy for distance value and reflectivity level in situations 1 to 3 can be used to determine whether the obtained distance value and reflectivity level meet the requirements of any one of situations 1 to 3. If so, it means that crosstalk data exists in the current processing frame measurement data corresponding to the head-end channel. Continuing with the above example, it means that crosstalk data exists in the second frame measurement data corresponding to the head-end channel.

[0192] Based on this, each time it is determined that there is crosstalk data in the current processing frame measurement data received by the head-end channel, the current processing frame measurement data received by the head-end channel can be set to 0, for example, the distance value corresponding to the current processing frame is set to 0. In this way, all corresponding frame measurement data with crosstalk data in the head-end channel can be marked invalid.

[0193] In the embodiment of the present invention, the relevant description that the reflectivity levels corresponding to the two channels are both medium reflectivity levels or low reflectivity levels means that the reflectivity level corresponding to any one of the two channels is the medium reflectivity level or the low reflectivity level, rather than that the actual reflectivity levels of the two channels are the same.

[0194] After completing the update of the corresponding measurement data through steps S1000 to S3000, step S4000 can be executed to use the updated measurement data and the measurement data corresponding to the middle channel as target point cloud data, so that there is no expansion phenomenon in the vertical direction in the point cloud image obtained based on the target point cloud data.

[0195] In addition, the laser point cloud data processing method provided in the embodiment of the present invention also proposes some solutions to solve the image jitter and delamination problems. The causes of the jitter and delamination problems are first introduced below:

[0196] Since the laser radar has three scanning modes, the first scanning mode is a combination of a single prism and a long linear array, which scans through one surface of the prism and outputs a frame of point cloud image. The second scanning mode is a combination of a single prism and a short linear array, which scans through one surface of the prism corresponding to a row area in a frame of image (not a pixel row, but a row area covering multiple pixel rows), in which each facet of the prism has a fixed tilt angle, and the tilt angles of each facet are different. The prism rotates one circle to complete the scanning of a complete frame of image, and each face corresponds to a different row area in a frame of image. The third scanning mode is the double-sided mirror mode, that is, the prism and the galvanometer are matched, and the prism is controlled by the prism motor to scan horizontally, and the galvanometer is used for vertical optical scanning.

[0197] The inventors have found that no matter which scanning method is used, the prism has non-ideal characteristics in the vertical direction, which leads to jitter and / or stratification of the obtained point cloud data. The following are the relevant reasons:

[0198] See also Figure 6a to Figure 6c , Figure 6a is a perspective view of a three-dimensional structure of a prism provided by an embodiment of the present invention, Figure 6b Yes means Figure 6a The cross section of the prism in the figure is a regular polygon. Figure 6c yes Figure 6a Schematic diagram of the parallel relationship between the baa'b' plane in the prism and the rotating shaft of the motor that drives the prism to rotate. The prism is generally a regular polygonal prism, for example, Figure 6a and Figure 6b The cross section of the regular triangular prism shown is also a regular polygon, such as Figure 6b As shown, the cross section of a regular polygon has an inscribed circle and a circumscribed circle with the same center. Assuming that the center of the top surface of the prism is o and the center of the bottom surface is o', the line oo' connecting the two centers is the axis of the motor rotation axis of the prism. Ideally, each facet of the prism is completely parallel to the motor rotation axis, that is, the axis oo', as shown in Figure 6c shown.

[0199] However, in reality, not all prisms can achieve the above ideal condition. For example, there may be volume ratio errors and prism angle errors.

[0200] For volume ratio error, there are two cases:

[0201] In the first case, there is an axial scale error:

[0202] Continuing with the example of a triangular prism, the triangular prism is extended or shortened along the axis oo', such as Figure 7 As shown, Figure 7 This is a comparison diagram of two triangular prisms with axial ratio errors provided by an embodiment of the present invention, wherein it is assumed that the triangular prism with a black triangle on the top surface is an ideal triangular prism, and the triangular prism with a red triangle on the top surface is an actual triangular prism. It can be seen that stretching or shortening the triangular prism at a smaller ratio has no effect on the optical path, but only has a small effect on the optical aperture. Overall, it has no effect on the radar point cloud image.

[0203] In the second case, there is a radial scale error:

[0204] Continuing with the example of a triangular prism, assume that the triangular prism is enlarged or reduced along the cross section, with the center of the cross section remaining unchanged, such as Figure 8 As shown, Figure 8FIG. 1 is a schematic diagram of a light path comparison of two prisms with radial ratio error provided by an embodiment of the present invention, wherein it is assumed that the black triangle is the cross section of an ideal prism and the red triangle is the cross section of an actual prism. It can be seen that for the same incident light beam (such as Figure 8 The blue line in the figure), the reflected light paths of the two prisms are not the same, such as Figure 8 As shown by the black dotted line and the red dotted line in the figure, the horizontal field of view angle of the point cloud image has a steady-state error. However, this error can usually be corrected through the whole machine calibration process in the factory production link, so it has little impact on the point cloud image in the application.

[0205] There are also two cases for prism angle error:

[0206] In the first case, it is assumed that each face of the prism is an ideal plane or a nearly flat plane:

[0207] like Figure 9a As shown, Figure 9a It is a schematic diagram of the relationship between each facet in a prism and the axis of the motor rotating shaft provided by an embodiment of the present invention. Assuming that the motor rotating shaft is in an ideal vertical direction during the rotation of the prism, the facet acc'a' in the prism is not completely parallel to the rotating axis oo'. An angle θa can be measured at the infinite intersection M of the extended lines. For the convenience of the following description, this angle is defined as the spire difference angle between the facet and the motor rotating shaft, which can also be recorded as the spire difference between the facet and the motor rotating shaft. Similarly, other facets, such as facet baa'b' and facet cbb'c', also have corresponding spire difference angles θb and θc. θb is not shown in the figure because facet baa'b' and the rotating axis oo' are in a completely parallel relationship, so it can be considered that it does not exist.

[0208] To distinguish the difference between the facet and the rotation axis, Figure 9a As shown, the spire difference formed by the intersection of the facet acc'a' and the upper end of the extension line of the rotation axis oo' is defined as a positive spire difference. Similarly, the spire difference formed by the intersection of the facet cbb'c' and the lower end of the extension line of the rotation axis oo' is defined as a negative spire difference.

[0209] There is another situation in which the above-mentioned spire error is formed. Assume that the facets of the prism are all in an ideal vertical direction, but there is a rotation error in the rotation axis, such as Figure 9b As shown, Figure 9b Schematic diagram of the relationship between the facets of another prism provided by the embodiment of the present invention and the axis of the motor rotation shaft. It can be seen that the facet acc'a' of the prism and the rotation axis oo' have a spire difference of θa angle. The spire difference of θa angle here and Figure 9aThe pyramidal differences of angle θa shown are essentially two expressions of the same phenomenon, but the premises for the two are different. Similarly, other facets, such as facet baa'b' and facet cbb'c', also have corresponding pyramidal difference angles θb and θc. θb is not shown in the figure because facet baa'b' and rotation axis oo' are completely parallel, so it can be considered that it does not exist.

[0210] In the second case, the facets of the prism are curved:

[0211] In the first case, it is assumed that each facet is a plane, so the spire error of the entire facet is the same angle. However, in the actual processing of the prism, it is difficult to achieve an ideal plane, but a curved surface, that is, within the same facet, the spire error may not be a fixed value, but a variable value related to the position, that is, the same facet may have multiple different spire errors. As a simplified example, the facet acc'a' is divided into three equal parts along the short side to obtain three curved surfaces, such as Fig.9c As shown, Fig.9c It is a schematic diagram of the error of a curved facet relative to a flat facet provided in an embodiment of the present invention, which are respectively the surface shown by the red solid line, the surface shown by the black solid line, and the surface shown by the blue solid line. It can be seen that the pyramidal errors between these three surfaces and the rotation axis oo' are all different. Here, the angle formed by the intersection of the red surface and the rotation axis oo' is defined as a positive pyramidal error, and the angle formed by the intersection of the blue surface and the rotation axis oo' is defined as a negative pyramidal error.

[0212] On the basis of the above three surfaces, further subdividing the edges will obtain a continuous surface containing multiple spire differences, including positive spire differences and negative spire differences, and the change of the spire difference is a continuous change value, such as Figure 9d As shown, Figure 9d is a schematic diagram of a curved facet with a continuous spire difference change rate provided by an embodiment of the present invention. Assuming that the face where a'c is located and the face where ac' is located are ideal planes, both parallel to the rotation axis oo', based on this, two diagonal points that are not on the same ideal plane are selected from the above two ideal planes, for example, the diagonal point a'c' or the diagonal point ac is selected to perform edge segmentation, and the obtained Figure 9d The surface shown has a continuous pyramidal difference rate of change.

[0213] For any of the above prism angle errors, the point cloud image will have the following effects:

[0214] For the laser radar using the first scanning method, the point cloud image will jitter up and down between frames:

[0215] For flat facets:

[0216] Since the spire error of the facet acc'a' is positive, it will cause an unexpected deflection in the direction of the optical path, which will cause the point cloud image of the N-1th frame to be biased upward compared to the expected point cloud image, such as Fig.10a As shown, Fig.10a 3 is a schematic diagram of pixel loss in a point cloud image provided by an embodiment of the present invention. It can be seen that, in this case, the point cloud data of the bottom part of the STOP sign is lost in the point cloud image.

[0217] Since the facet baa'b' is consistent with the theoretical position and there is no spire error, its optical path is normal. The point cloud image of the Nth frame is consistent with expectations, such as Fig.10b As shown, Fig.10b is a schematic diagram of a complete point cloud image provided by an embodiment of the present invention. It can be seen that, in this case, a complete STOP sign is displayed in the point cloud image without any missing pixels.

[0218] Since the spire difference of the facet cbb'c' is negative, it will cause an unexpected deflection in the direction of the optical path, which will cause the point cloud image of the N+1 frame to be lower than the expected point cloud image, such as Fig.10c As shown, Fig.10c 3 is a schematic diagram of another point cloud image with missing pixels provided by an embodiment of the present invention. It can be seen that, in this case, the point cloud data of the uppermost part of the STOP sign is lost in the point cloud image.

[0219] Therefore, during the continuous scanning of the same object, the point cloud image sometimes loses the data at the bottom of the scene object, sometimes loses the data at the top of the scene object, and sometimes it is normal. The final result is that the point cloud image shakes up and down.

[0220] For curved facets:

[0221] Assuming that the facet acc'a' has both positive and negative spire errors, in this way, N-1 frames of point cloud images will be formed in the process of scanning one frame of image on one facet. Observing the point cloud image along the horizontal direction, for example, the N-1 frame image, the lower edge of the object is lost for a while, and the upper edge of the object is lost for a while. The horizontal edge of the point cloud image is no longer a horizontal straight line, but an S curve or a slant line, such as Fig.10d As shown, Fig.10d It is a schematic diagram of a point cloud image provided by an embodiment of the present invention in which both lower and upper pixel portions are missing, which not only causes the loss of part of the scene but also makes the inter-frame jitter of the point cloud image more obvious.

[0222] Since the facet baa'b' is consistent with the theoretical position and there is no spire error, its optical path is normal. The point cloud image of the Nth frame is consistent with expectations, such as Fig.10e As shown, Fig.10e is a schematic diagram of a complete point cloud image provided by an embodiment of the present invention. It can be seen that, in this case, a complete STOP sign is displayed in the point cloud image without any missing pixels.

[0223] Assuming that the facet cbb'c' has both positive and negative spire errors, the point cloud image formed by it is observed along the horizontal direction. For example, in the N+1 frame image, the upper edge of the object is lost for a while, and the lower edge of the object is lost for a while. The horizontal edge of the point cloud image is no longer a horizontal straight line, but an S curve or a slant line. Fig.10f As shown, Fig.10f This is a schematic diagram of another point cloud image provided by an embodiment of the present invention in which both lower and upper pixel portions are missing. Similarly, not only does it cause the loss of part of the scene, but it also makes the inter-frame jitter of the point cloud image more obvious.

[0224] For the laser radar using the second and third scanning modes, due to the existence of facet spire difference, stratification will occur between different scanning sectors within the same frame of point cloud image:

[0225] For planar facets, the point cloud image is formed by vertically stitching the three facets of the prism. For example, the Nth frame image is stitched together by the three sectors formed by the three facets of the prism. The optical path deviation caused by the spire difference of the facets, such as Figure 10g As shown, Figure 10g is a schematic diagram of a comparison between a point cloud image with a point cloud stratification phenomenon and a theoretical image provided by an embodiment of the present invention. For the Nth frame image, the scanned image of the first sector (i.e. Figure 10g The top left image) is larger than the theoretical image (i.e. Figure 10g The top image on the right side of the middle) is overall upward, and the second sector image (i.e. Figure 10g An image in the middle left corner of the image) and a theoretical image (i.e. Figure 10g The image at the middle position on the right side of the image is the same, which is normal, so there is a point cloud missing between sectors 1 and 2, resulting in the point cloud stratification phenomenon. Similarly, the scanned image of sector 3 (i.e. Figure 10g The bottom left image) is better than the theoretical image (i.e. Figure 10g The bottom right image in the middle is generally downward, so there is a point cloud missing between the second and third sectors, resulting in point cloud stratification.

[0226] For curved facets, such as Fig.10h As shown, Fig.10h Another schematic diagram of the comparison between a point cloud image with a point cloud layering phenomenon and a theoretical image provided by an embodiment of the present invention. Since the curved facet has both positive and negative spire errors, it will result in a sector scan image ( Fig.10h The image on the left in the middle) and the theoretical image ( Fig.10h There is a deviation in the pixel position between the first and second sectors (the image on the right in the middle), and the upper edge objects are lost in some areas of the same sector, and the lower edge objects are lost in some areas. The overall effect is that there are point cloud missing and point cloud overlap between the first sector and the second sector (in the sector scan image, there is an overlap in the lower right part of the first sector and the upper right part of the second sector), which eventually forms a point cloud image stratification phenomenon.

[0227] In summary, the non-ideal characteristics of the laser radar's optical lens in the vertical direction will cause the laser point cloud image to jitter up and down and / or be layered.

[0228] Therefore, in order to solve the technical problem that the laser point cloud image appears to jitter up and down and / or be layered due to the non-ideal characteristics of the laser radar's optical lens in the vertical direction, the present invention provides a laser point cloud data processing method. By dividing the laser radar's receiving unit into a redundant sensor and a target sensor, and making the redundant sensors vertically arranged on both sides of the target sensor, a hardware foundation is laid for the subsequent acquisition of a channel number update set. Based on this, by first obtaining the target facets corresponding to the acquisition data currently output by all channels, that is, the facets through which the laser energy passes in the process of obtaining the received laser energy, and then using the pre-stored facet calibration table to determine the channel calibration values ​​of each receiving channel corresponding to the target facets, and using the channel calibration values ​​to update the channel numbers of each receiving channel, each receiving channel after the channel number is updated can be restored to normal, so that the measurement data of each receiving channel in the channel number update set obtained based on this screening is continuous, non-overlapping and non-misaligned, and the point cloud image obtained by processing the measurement data output by each receiving channel in the channel number update set will not have up and down jitter and stratification, which well overcomes the image quality problem caused by the non-ideal characteristics of the laser radar optical lens in the vertical direction, and combined with the above-mentioned expansion removal scheme, the image quality can be better improved.

[0229] Based on this, the process of acquiring the measurement data corresponding to each channel in the upper edge channel group, the middle channel group and the lower edge channel group includes:

[0230] In step S100, the target facets corresponding to the acquisition data currently output by all receiving channels are obtained;

[0231] In step S200, the channel calibration value of each receiving channel corresponding to the target facet is determined according to a pre-stored facet calibration table; wherein the facet calibration table stores the channel calibration value between each facet in the prism of the laser radar and each receiving channel;

[0232] In step S300, for each receiving channel, the channel number of the receiving channel is updated according to the channel calibration value of the receiving channel corresponding to the target facet;

[0233] In step S400, for each channel in the upper edge channel group, the middle channel group and the lower edge channel group, the measurement data received by the original channel corresponding to the updated channel number of the channel is used as the measurement data of the channel.

[0234] During the operation of the laser radar, the point cloud data received in real time by all receiving channels in the laser radar can be processed by executing the laser radar point cloud data processing method provided by the embodiment of the present invention in real time. The channel number of the receiving channel is first updated, and then the target channel is screened out, and the corresponding point cloud image is obtained based on the point cloud data of these target channels, so that there is no jitter and stratification problem in the obtained point cloud image.

[0235] Before executing the above step S1000, while reading the collected data output by all receiving channels, step S100 can be executed to read the current angular position of the motor, so as to determine which facet of the prism the laser energy shot into through to obtain the point cloud data output by the receiving channel, thereby obtaining the target facet corresponding to the current point cloud data. In particular, since the working angle of each facet in the prism corresponds to the angular position of the motor during the production process of the laser radar or before the application of the laser point cloud data processing method provided by the embodiment of the present invention, the current angular position of the motor can be used to determine which facet is working.

[0236] After the target facet is obtained, step S200 may be performed to determine the channel calibration value of each receiving channel corresponding to the target facet according to a pre-stored facet calibration table.

[0237] In the above, the facet calibration table can be obtained by calibrating each facet individually during the point cloud calibration phase of the laser radar machine generation process. Each prism face in the facet calibration table is a fixed value, which is only related to the corresponding prism face. Through the production calibration process, the channel correspondence of each face is a fixed parameter table.

[0238] As an example, assuming that N=128, for a planar target facet, the corresponding facet calibration table may be as shown in Table 1:

[0239] Table 1. Facet calibration table for planar facets

[0240]

[0241]

[0242] In Table 1, a positive channel calibration value indicates that the spire difference of the corresponding facet is positive, a zero channel calibration value indicates that there is no spire difference of the corresponding facet, and a negative channel calibration value indicates that the spire difference of the corresponding facet is negative.

[0243] Therefore, in the process of executing step S200, if the target facet is facet acc'a', the channel calibration values ​​corresponding to all receiving channels under facet acc'a' can be obtained from Table 1, and it can be seen from the table that they are all +1. Similarly, if the target facet is facet baa'b', the channel calibration values ​​corresponding to each receiving channel obtained from Table 1 are all 0; if the target facet is cbb'c', the channel calibration values ​​corresponding to each receiving channel obtained from Table 1 are all -1.

[0244] Although the channel calibration values ​​corresponding to each receiving channel under the same facet in Table 1 are the same, they may be different in other embodiments as long as the updated channel number can be continuous. In some embodiments, in order to reduce the difficulty of obtaining the facet calibration table and avoid errors due to different configurations of the channel calibration values, which may lead to discontinuity of the updated channel number and errors in the point cloud data processing process, in the laser point cloud data processing method provided by the embodiment of the present invention, when the target facet is a plane, the channel calibration values ​​corresponding to the target facet of each receiving channel are the same. Since the channel calibration values ​​corresponding to each receiving channel under the same facet are the same, after the original continuous channel number is subtracted from the same channel calibration value, the updated channel number must also be continuous, which can not only reduce the difficulty of tabulation, but also improve the reliability of the point cloud data processing process.

[0245] After obtaining the channel calibration value corresponding to each receiving channel through any of the above embodiments, step S300 may be performed to update the channel number of each receiving channel according to the channel calibration value corresponding to the target facet of the receiving channel. In this regard, in the case where the target facet is a plane, in step S300, the step of updating the channel number of the receiving channel according to the channel calibration value corresponding to the target facet of the receiving channel may include:

[0246] In step S310, the channel number of the receiving channel is updated to the difference between the original channel number of the receiving channel and the corresponding channel calibration value;

[0247] Among them, when the spire difference between the target facet and the motor rotation axis of the laser radar is a positive value, the channel calibration value of each receiving channel corresponding to the target facet is a positive value; when the spire difference between the target facet and the motor rotation axis is a negative value, the channel calibration value of each receiving channel corresponding to the target facet is a negative value; when there is no spire difference between the target facet and the motor rotation axis, the channel calibration value of each receiving channel corresponding to the target facet is zero.

[0248] Based on the example in Table 1, assuming that the target facet is facet acc'a', in the process of executing step S310, the channel numbers of all receiving channels are shifted up by 1, that is, each channel number is subtracted from 1 to obtain the updated channel number of each channel. For example, for receiving channel 1, the channel calibration value corresponding to facet acc'a' is +1, so the updated channel number of receiving channel 1 is: 1-(+1)=0. The channel number updating principle of other receiving channels is the same and will not be repeated here.

[0249] After the channel numbers of all receiving channels are updated, step S400 may be performed, and for each channel in the upper edge channel group, the middle channel group, and the lower edge channel group, the measurement data received by the original channel corresponding to the updated channel number of the channel is used as the measurement data of the channel. For example, assuming that the updated channel number of channel number 1 is 3, in this case, the measurement data corresponding to the channel with the original channel number 3 will overwrite the measurement data corresponding to the channel with the original channel number 1, thereby achieving the update of the measurement data in each channel.

[0250] Subsequently, the above steps S1000 to S4000 may be performed, thereby achieving that the measurement data applied in the expansion process is data that has overcome the layering problem and the jitter problem, and the quality of the final point cloud image can be better improved.

[0251] In addition, the laser point cloud data processing method provided in the embodiment of the present invention also proposes a corresponding solution for curved facets. Before introducing the solution, the following related principles are explained:

[0252] When the target facet is a curved surface, different small areas of the target facet have different pyramidal error distributions. In order to accurately obtain the pyramidal error of each small area, the idea of ​​differential segmentation can be adopted to subdivide the facet into many small plane areas according to the angle, so as to compensate for the pyramidal error in each small plane area.

[0253] Based on this, in the calibration stage of obtaining the facet calibration table of the curved facet, the calibration parameters can be refined to obtain a facet calibration table that associates the curved facets with the angles at which the facets are located. In this case, each facet will not have only one channel calibration value, but will include channel calibration values ​​under different angle ranges.

[0254] like Fig.11 As shown, Fig.11 Schematic diagram of the spire difference of a curved facet at different angles provided by an embodiment of the present invention. As an example, five angles of the facet are taken, such as Fig.11 As shown in the left image, the corresponding pyramid difference relationship between the facet and the rotation axis is drawn respectively, such as Fig.11 As shown in the right image. Any of the angle positions indicates that when the facet is rotated to this angle position, the laser energy will be emitted from the area at this angle position in the facet and received by the sensor in the receiving unit.

[0255] by Fig.11 For example, in the angle range of Φ-2*Δθ to Φ+3*Δθ in the facet acc'a', 5 small areas are distinguished with Δθ as equal angle intervals, namely, the small area between Φ-2*Δθ and Φ-Δθ, the small area between Φ-Δθ and Φ, the small area between Φ and Φ+Δθ, the small area between Φ+Δθ and Φ+2*Δθ, and the small area between Φ+2*Δθ and Φ+3*Δθ. It can be seen that each small area has a different spire difference. Among them, the angle spacing Δθ is half of the horizontal resolution angle of the radar, and Φ is one of the values ​​between 0° and 120°. For example, Φ can be 45°, but is not limited thereto.

[0256] from Fig.11 From the right image in , we can see that the area between the angles Φ-2*Δθ and Φ-Δθ has a positive spire difference, and the positive spire difference is large. The area between the angles Φ-Δθ and Φ has a positive spire difference, and the positive spire difference is small. The area between the angles Φ and Φ+Δθ is completely parallel to the extension line of the rotation axis oo' and has no spire difference. The area between the angles Φ+Δθ and Φ+2*Δθ intersects with the extension line of the rotation axis oo' at the lower end, and the surface has a negative spire difference, and the negative spire difference is small. The area between the angles Φ+2*Δθ and Φ+3*Δθ has a negative spire difference, and the negative spire difference is large.

[0257] Based on this, for each small area, the facet calibration table of the curved facet can be obtained according to the calibration method of the channel calibration value of the plane. Based on this, the facet calibration table also stores the channel calibration values ​​between the different angle ranges of each facet in the prism and each receiving channel. In some embodiments, the facet calibration table may include a plurality of sub-calibration tables corresponding to the plurality of facets one by one, each sub-calibration table includes the channel calibration values ​​corresponding to the different angle ranges of each receiving channel when the corresponding facet is at a position in a different angle range. Taking the sub-calibration table of the facet acc'a' as an example, an exemplary sub-calibration table may be shown in Table 2 below:

[0258] Table 2 Sub-calibration table of facet acc'a'

[0259]

[0260] The positive and negative meanings of the channel calibration values ​​in Table 2 are similar to those in Table 1, and are not described in detail here.

[0261] It can be seen that different angle ranges include multiple first angle ranges for characterizing the existence of a positive spire difference between the facet and the motor rotation axis of the laser radar (such as [Φ-3*Δθ, Φ-2*Δθ), [Φ-2*Δθ, Φ-Δθ) and [Φ-Δθ, Φ) in Table 2), a reference angle range for characterizing the absence of a spire difference between the facet and the motor rotation axis of the laser radar (such as [Φ, Φ+Δθ) in Table 2), and multiple second angle ranges for characterizing the existence of a negative spire difference between the facet and the motor rotation axis of the laser radar (such as [Φ+Δθ, Φ+2*Δθ) and [Φ+2*Δθ, Φ+3*Δθ) in Table 2); different first angle ranges characterize positive spire differences of different sizes, and different second angle ranges characterize negative spire differences of different sizes.

[0262] It can be seen that, when the target facet is a curved surface, the angular position of the target facet needs to be known in order to query the corresponding channel calibration value from the facet calibration table. Based on this, in the above step S100, the step of obtaining the target facet corresponding to the acquisition data currently output by all receiving channels can be adjusted to include:

[0263] In step S120, the corresponding target facet and the angular position of the target facet are determined according to the motor angle corresponding to the point cloud data.

[0264] The principle of obtaining the motor angle corresponding to the current point cloud data and the technical principle of determining the target face according to the motor angle can be found in the above related records and will not be elaborated here. The motor angle corresponding to the current point cloud data is the angle position of the target face.

[0265] Accordingly, in step S200, the step of determining the channel calibration value of each receiving channel corresponding to the target facet according to the pre-stored facet calibration table can be adjusted to include:

[0266] In step S220, according to the angular position of the target facet, a target angle range corresponding to the target facet in the facet calibration table is determined;

[0267] In step S230, a channel calibration value of each receiving channel corresponding to the target angle range is determined according to the facet calibration table of the target facet.

[0268] After knowing the target prism and its angular position through step S120, step S220 can be executed to obtain the sub-calibration table corresponding to the target prism from the facet calibration table, and then query which angle range the target facet falls into in the sub-calibration table according to the angular position of the target facet, thereby obtaining the target angle range.

[0269] Subsequently, step S230 can be executed to obtain the channel calibration value corresponding to each receiving channel within the target angle range according to the facet calibration table of the target facet, for example, the sub-calibration table corresponding to the target facet. For example, taking Table 2 as an example, assuming that the facet acc'a' is the target facet and the target angle range is [Φ-2*Δθ, Φ-Δθ), it can be seen that the channel calibration value corresponding to each receiving channel is +2.

[0270] Although the channel calibration values ​​corresponding to each receiving channel under the same angle range of the same prism in Table 2 are the same, they may be different in other embodiments as long as the updated channel number can be guaranteed to be continuous. In some embodiments, in order to reduce the difficulty of obtaining the facet calibration table and avoid errors due to different configurations of the channel calibration values, which in turn lead to discontinuity of the updated channel number and errors in the point cloud data processing process, in the laser point cloud data processing method provided by the embodiment of the present invention, when the target facet is a curved surface, the channel calibration values ​​corresponding to the target angle range of each receiving channel are the same, that is, the channel calibration values ​​corresponding to the same angle range of the same prism under each receiving channel are the same. Since the channel calibration values ​​corresponding to each receiving channel under the same angle range of the same prism are configured to be the same, the updated channel numbers must be continuous after the original continuous channel numbers are subtracted from the same channel calibration value, which can not only reduce the difficulty of tabulation, but also improve the reliability of the point cloud data processing process.

[0271] After obtaining the channel calibration value corresponding to each receiving channel through step S230, the channel number of each receiving channel can be updated according to the channel calibration value of the receiving channel corresponding to the target facet in step S300. The updating principle is the same as the channel number updating principle in the planar prism scenario, that is, the step of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet includes:

[0272] In step S320, the channel number of the receiving channel is updated to the difference between the original channel number of the receiving channel and the channel calibration value corresponding to the target angle range.

[0273] Among them, when the target angle range is the first angle range, the calibration value is a positive value, and the size of the calibration value is positively correlated with the size of the positive spire difference; when the target angle range is the reference angle range, the calibration value is zero; when the target angle range is the second angle range, the calibration value is a negative value, and the absolute value of the calibration value is positively correlated with the size of the negative spire difference.

[0274] Based on the example in Table 2, assuming that the target facet is facet acc'a', and the target angle range is [Φ+2*Δθ, Φ+3*Δθ), it can be seen that the channel calibration values ​​corresponding to each channel are all -2, then in the process of executing step S320, the channel numbers of all receiving channels are shifted down by 2, that is, each channel number is subtracted from 2, and the updated channel number can be obtained. For example, for receiving channel 3, its updated channel number is: 3-(-2)=5. The channel number update principle of other receiving channels is the same, which will not be repeated here.

[0275] Likewise, after the channel numbers of all receiving channels are updated, step S400 may be performed.

[0276] It is worth noting that the technical features or technical solutions in any of the above embodiments of the present invention can be combined with each other as long as there is no combination contradiction.

[0277] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a laser point cloud data processing device is given below. Optionally, the laser point cloud data processing device can adopt the above Figure 3 For further information, please refer to Fig.12 , Fig.12This is a functional module diagram of a laser point cloud data processing device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the laser point cloud data processing device provided in this embodiment are the same as those in the above embodiment. For the sake of brief description, for the parts not mentioned in this embodiment, please refer to the corresponding contents in the above embodiment. The laser point cloud data processing device 1200 includes:

[0278] The crosstalk determination module 1210 is configured to: determine whether there is crosstalk data in the head channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group; wherein the head channel is a receiving channel corresponding to a target sensor in the upper edge channel group that is closest to the first redundant sensor, and the end channel is a receiving channel corresponding to a target sensor in the lower edge channel group that is closest to the second redundant sensor;

[0279] The data updating module 1220 is configured to: when there is crosstalk data in the head-end channel, update the measurement data corresponding to the head-end channel to zero to obtain the head-end measurement data; when there is crosstalk data in the end channel, update the measurement data corresponding to the end channel to zero to obtain the end measurement data;

[0280] The target point cloud data acquisition module 1230 is configured to use the head end measurement data, the measurement data corresponding to the middle channel group and the terminal measurement data as target point cloud data.

[0281] In some embodiments, the measurement data includes a distance value and a reflectivity value; the reflectivity value is used to determine a reflectivity level corresponding to a receiving channel.

[0282] Accordingly, in the case where a complete point cloud image is formed based on a frame of measurement data, the process of the crosstalk determination module 1210 determining whether there is crosstalk data for the head channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group is configured as follows:

[0283] When the distance values ​​corresponding to the channels in the upper edge channel group are within the set distance range and the reflectivity levels corresponding to the channels in the upper edge channel group are the set reflectivity levels corresponding to the channels, it is determined that the head-end channel in the upper edge channel group has crosstalk data;

[0284] When the distance value corresponding to each channel in the lower edge channel group belongs to the set distance range and the reflectivity level corresponding to each channel in the lower edge channel group is the corresponding set reflectivity level, it is determined that crosstalk data exists in the end channel of the lower edge channel group.

[0285] In some embodiments, the measurement data includes a distance value and a reflectivity value; the reflectivity value is used to determine a reflectivity level corresponding to a receiving channel.

[0286] Accordingly, in the case where a complete point cloud image is formed by sequentially stitching a plurality of frames of continuous measurement data in a vertical direction, the process of the crosstalk determination module 1210 determining whether there is crosstalk data in the head channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group is configured as follows:

[0287] For the first frame of measurement data in the multiple frames of measurement data, when the first frame distance values ​​corresponding to each channel in the upper edge channel group belong to the set distance range, and the first frame reflectivity levels corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the first frame of measurement data corresponding to the head-end channel in the upper edge channel group;

[0288] For the last frame of measurement data in the multiple frames of measurement data, when the first frame distance values ​​corresponding to each channel in the lower edge channel group belong to the set distance range and the first frame reflectivity levels corresponding to each channel in the lower edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the last frame of measurement data corresponding to the end channel in the lower edge channel group;

[0289] For each currently processed frame measurement data except the last frame measurement data, when the currently processed frame distance value corresponding to each channel in the lower edge channel group and the next frame distance value corresponding to each channel in the upper edge channel group belong to the set distance range, and the currently processed frame reflectivity level corresponding to each channel in the lower edge channel group and the next frame reflectivity level corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the currently processed frame measurement data corresponding to the end channel;

[0290] For each currently processed frame measurement data except the first frame measurement data, when the currently processed frame distance value corresponding to each channel in the upper edge channel group and the previous frame distance value corresponding to each channel in the lower edge channel group belong to their respective set distance ranges, and the currently processed frame reflectivity level corresponding to each channel in the upper edge channel group and the previous frame reflectivity level corresponding to each channel in the lower edge channel group are their respective corresponding set reflectivity levels, it is determined that crosstalk data exists in the currently processed frame measurement data corresponding to the head end channel.

[0291] In some embodiments, the laser point cloud data processing device 1000 provided by the embodiment of the present invention may further include:

[0292] The acquisition module is configured to: acquire the target facet corresponding to the acquisition data currently output by all receiving channels;

[0293] The determination module is configured to: determine the channel calibration value of each receiving channel corresponding to the target facet according to a pre-stored facet calibration table; wherein the facet calibration table stores the channel calibration value between each facet in the prism of the laser radar and each receiving channel;

[0294] An updating module is configured to: for each receiving channel, update the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet;

[0295] The measurement data output module is configured to: for each channel in the upper edge channel group, the middle channel group and the lower edge channel group, use the measurement data received by the original channel corresponding to the updated channel number of the channel as the measurement data of the channel.

[0296] In some embodiments, when the target facet is a plane, the process of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet is configured as follows:

[0297] Updating the channel number of the receiving channel to the difference between the original channel number of the receiving channel and the corresponding channel calibration value;

[0298] Among them, when the spire difference between the target facet and the motor rotation axis of the laser radar is a positive value, the channel calibration value of each receiving channel corresponding to the target facet is a positive value; when the spire difference between the target facet and the motor rotation axis is a negative value, the channel calibration value of each receiving channel corresponding to the target facet is a negative value; when there is no spire difference between the target facet and the motor rotation axis, the channel calibration value of each receiving channel corresponding to the target facet is zero.

[0299] In some embodiments, when the target facet is a plane, the channel calibration values ​​of each receiving channel corresponding to the target facet are the same.

[0300] In some embodiments, when the target facet is a curved surface, the process of the acquisition module acquiring the target facet corresponding to the acquisition data currently output by all receiving channels is configured as follows:

[0301] According to the motor angle corresponding to the point cloud data, the corresponding target facet and the angular position of the target facet are determined.

[0302] Based on the previous embodiment, in some embodiments, the facet calibration table further stores channel calibration values ​​between different angle ranges of each facet in the prism and each receiving channel;

[0303] The process of determining the channel calibration value of each receiving channel corresponding to the target facet according to the pre-stored facet calibration table by the determination module is configured as follows:

[0304] Determine, according to the angular position of the target facet, a target angle range corresponding to the target facet in the facet calibration table;

[0305] According to the facet calibration table of the target facet, a channel calibration value of each receiving channel corresponding to the target angle range is determined.

[0306] In some embodiments, when the target facet is a curved surface, the different angle ranges include multiple first angle ranges for characterizing the existence of a positive spire difference between the facet and the motor rotation axis of the laser radar, a reference angle range for characterizing the absence of a spire difference between the facet and the motor rotation axis of the laser radar, and multiple second angle ranges for characterizing the existence of a negative spire difference between the facet and the motor rotation axis of the laser radar; different first angle ranges characterize positive spire differences of different sizes, and different second angle ranges characterize negative spire differences of different sizes.

[0307] Correspondingly, the process of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet is configured as follows:

[0308] Updating the channel number of the receiving channel to the difference between the original channel number of the receiving channel and the channel calibration value corresponding to the target angle range;

[0309] Among them, when the target angle range is the first angle range, the calibration value is a positive value, and the size of the calibration value is positively correlated with the size of the positive spire difference; when the target angle range is the reference angle range, the calibration value is zero; when the target angle range is the second angle range, the calibration value is a negative value, and the absolute value of the calibration value is positively correlated with the size of the negative spire difference.

[0310] In some embodiments, the channel calibration values ​​of each receiving channel corresponding to the target angle range are the same.

[0311] Optionally, the above modules can be stored in the form of software or firmware. Figure 3 The memory shown in the figure or solidified in the operating system (OS) of the electronic device, and can be Figure 3 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0312] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes 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 box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0313] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0314] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0315] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser point cloud data processing method, characterized in that: Used to process data received by a laser radar, the receiving unit of the laser radar includes a plurality of first redundant sensors, a plurality of target sensors and a plurality of second redundant sensors arranged in sequence along the vertical direction; a first set number of target sensors adjacent to the first redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of first redundant sensors form an upper edge channel group; a second set number of target sensors adjacent to the second redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of second redundant sensors form a lower edge channel group; The receiving channels corresponding to the remaining target sensors form the middle channel group; The method comprises: Determine whether there is crosstalk data in the head channel in the upper edge channel group and the end channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group; wherein the head channel is a receiving channel corresponding to a target sensor in the upper edge channel group that is closest to the first redundant sensor, and the end channel is a receiving channel corresponding to a target sensor in the lower edge channel group that is closest to the second redundant sensor; In the case where crosstalk data exists in the head-end channel, updating the measurement data corresponding to the head-end channel to zero to obtain the head-end measurement data; In the case where crosstalk data exists in the end channel, updating the measurement data corresponding to the end channel to zero to obtain the end measurement data; The head end measurement data, the measurement data corresponding to the middle channel group and the terminal measurement data are used as target point cloud data.

2. The method according to claim 1, characterized in that The measurement data includes a distance value and a reflectivity value; the reflectivity value is used to determine the reflectivity level corresponding to the receiving channel; In the case where a complete point cloud image is formed based on a frame of measurement data, the step of determining whether there is crosstalk data between a head channel in the upper edge channel group and a terminal channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group comprises: When the distance values ​​corresponding to the channels in the upper edge channel group are within the set distance range and the reflectivity levels corresponding to the channels in the upper edge channel group are the set reflectivity levels corresponding to the channels, it is determined that the head-end channel in the upper edge channel group has crosstalk data; When the distance value corresponding to each channel in the lower edge channel group belongs to the set distance range and the reflectivity level corresponding to each channel in the lower edge channel group is the corresponding set reflectivity level, it is determined that crosstalk data exists in the end channel of the lower edge channel group.

3. The method according to claim 1, characterized in that The measurement data includes a distance value and a reflectivity value; the reflectivity value is used to determine the reflectivity level corresponding to the receiving channel; In the case where a complete point cloud image is formed by sequentially stitching multiple frames of continuous measurement data in a vertical direction, the step of determining whether there is crosstalk data between a head channel in the upper edge channel group and a terminal channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group comprises: For the first frame of measurement data in the multiple frames of measurement data, when the first frame distance values ​​corresponding to each channel in the upper edge channel group belong to the set distance range, and the first frame reflectivity levels corresponding to each channel in the upper edge channel group are the set reflectivity levels corresponding to each channel, it is determined that crosstalk data exists in the first frame of measurement data corresponding to the head-end channel in the upper edge channel group; For the last frame of measurement data in the multiple frames of measurement data, when the last frame distance value corresponding to each channel in the lower edge channel group belongs to the set distance range, and the last frame reflectivity level corresponding to each channel in the lower edge channel group is the set reflectivity level corresponding to each channel, it is determined that there is crosstalk data in the last frame of measurement data corresponding to the end channel in the lower edge channel group; For each currently processed frame measurement data except the last frame measurement data, when the currently processed frame distance value corresponding to each channel in the lower edge channel group and the next frame distance value corresponding to each channel in the upper edge channel group belong to the set distance range, and the currently processed frame reflectivity level corresponding to each channel in the lower edge channel group and the next frame reflectivity level corresponding to each channel in the upper edge channel group are the corresponding set reflectivity levels, it is determined that there is crosstalk data in the currently processed frame measurement data corresponding to the end channel; For each currently processed frame measurement data except the first frame measurement data, when the currently processed frame distance value corresponding to each channel in the upper edge channel group and the previous frame distance value corresponding to each channel in the lower edge channel group belong to their respective set distance ranges, and the currently processed frame reflectivity level corresponding to each channel in the upper edge channel group and the previous frame reflectivity level corresponding to each channel in the lower edge channel group are their respective corresponding set reflectivity levels, it is determined that crosstalk data exists in the currently processed frame measurement data corresponding to the head end channel.

4. The method according to claim 1, characterized in that: The channel numbers of different receiving channels are different from each other; in the upper edge channel group, the middle channel group and the lower edge channel group, the process of acquiring the measurement data corresponding to each channel includes: Obtain the target facets corresponding to the collected data currently output by all receiving channels; Determine the channel calibration value of each receiving channel corresponding to the target facet according to a pre-stored facet calibration table; wherein the facet calibration table stores the channel calibration value between each facet in the prism of the laser radar and each receiving channel; For each receiving channel, updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet; For each channel in the upper edge channel group, the middle channel group and the lower edge channel group, the measurement data received by the original channel corresponding to the updated channel number of the channel is used as the measurement data of the channel.

5. The method according to claim 1, characterized in that In the case where the target facet is a plane, the step of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet comprises: Updating the channel number of the receiving channel to the difference between the original channel number of the receiving channel and the corresponding channel calibration value; Among them, when the spire difference between the target facet and the motor rotation axis of the laser radar is a positive value, the channel calibration value of each receiving channel corresponding to the target facet is a positive value; when the spire difference between the target facet and the motor rotation axis is a negative value, the channel calibration value of each receiving channel corresponding to the target facet is a negative value; when there is no spire difference between the target facet and the motor rotation axis, the channel calibration value of each receiving channel corresponding to the target facet is zero.

6. The method according to claim 4, characterized in that In the case where the target facet is a curved surface, the facet calibration table further stores channel calibration values ​​between different angle ranges of each facet in the prism and each receiving channel; The step of obtaining the target facet corresponding to the collected data currently output by all receiving channels comprises: Determine the corresponding target facet and the angular position of the target facet according to the motor angle corresponding to the point cloud data; The step of determining the channel calibration value of each receiving channel corresponding to the target facet according to the pre-stored facet calibration table comprises: Determine, according to the angular position of the target facet, a target angle range corresponding to the target facet in the facet calibration table; According to the facet calibration table of the target facet, a channel calibration value of each receiving channel corresponding to the target angle range is determined.

7. The method according to claim 6, characterized in that The different angle ranges include a plurality of first angle ranges for characterizing that there is a positive spire difference between the facet and the motor rotation axis of the laser radar, a reference angle range for characterizing that there is no spire difference between the facet and the motor rotation axis of the laser radar, and a plurality of second angle ranges for characterizing that there is a negative spire difference between the facet and the motor rotation axis of the laser radar; different first angle ranges characterize positive spire differences of different sizes, and different second angle ranges characterize negative spire differences of different sizes; The step of updating the channel number of the receiving channel according to the channel calibration value of the receiving channel corresponding to the target facet comprises: Updating the channel number of the receiving channel to the difference between the original channel number of the receiving channel and the channel calibration value corresponding to the target angle range; Among them, when the target angle range is the first angle range, the calibration value is a positive value, and the size of the calibration value is positively correlated with the size of the positive spire difference; when the target angle range is the reference angle range, the calibration value is zero; when the target angle range is the second angle range, the calibration value is a negative value, and the absolute value of the calibration value is positively correlated with the size of the negative spire difference.

8. A laser point cloud data processing device, characterized in that: Used to process data received by a laser radar, the receiving unit of the laser radar includes a plurality of first redundant sensors, a plurality of target sensors and a plurality of second redundant sensors arranged in sequence along the vertical direction; a first set number of target sensors adjacent to the first redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of first redundant sensors form an upper edge channel group; a second set number of target sensors adjacent to the second redundant sensor among the plurality of target sensors and receiving channels corresponding to the plurality of second redundant sensors form a lower edge channel group; The receiving channels corresponding to the remaining target sensors form the middle channel group; The device comprises: A crosstalk determination module is configured to: determine whether there is crosstalk data in a head channel in the upper edge channel group and a tail channel in the lower edge channel group according to the measurement data corresponding to the upper edge channel group and the lower edge channel group; wherein the head channel is a receiving channel corresponding to a target sensor in the upper edge channel group that is closest to the first redundant sensor, and the tail channel is a receiving channel corresponding to a target sensor in the lower edge channel group that is closest to the second redundant sensor; The data updating module is configured to: when there is crosstalk data in the head-end channel, update the measurement data corresponding to the head-end channel to zero to obtain the head-end measurement data; when there is crosstalk data in the tail-end channel, update the measurement data corresponding to the tail-end channel to zero to obtain the tail-end measurement data; The target point cloud data acquisition module is configured to use the head end measurement data, the measurement data corresponding to the middle channel group and the terminal measurement data as target point cloud data.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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