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. The method comprises the following steps: acquiring a target edge surface corresponding to point cloud data currently output by all receiving channels; determining a channel calibration value of each receiving channel corresponding to the target prismatic surface according to a pre-stored prismatic surface calibration table; 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 prism surface; for each receiving channel, if the updated channel number of the receiving channel does not exist in a pre-stored target channel number set, discarding the receiving channel to obtain a target channel set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to the multiple target sensors, and a set formed by the updated channel numbers of the receiving channels in the target channel set is the same as the target channel number set; and processing the point cloud data output by each receiving channel in the target channel set to obtain a point cloud image.

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

[0003] 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.

[0004] However, the non-ideal characteristics of the laser radar optical lens (prism) in the vertical direction, for example, due to the processing error of the optical lens, one or some mirror surfaces in the optical lens are not completely parallel to the rotation axis of the optical lens, which can easily cause the laser radar to have the following problems in the process of continuous scanning of the same object:

[0005] First, for laser radars that use a single prism and a long linear array, the point cloud images scanned by them sometimes lose the bottom data of scene objects, sometimes lose the top data of scene objects, and sometimes are normal, causing the laser point cloud image to shake up and down.

[0006] Secondly, for the laser radar that uses a single prism and a short linear array, or a prism and a galvanometer, in a certain frame of point cloud image scanned by it, a certain sector is overall higher than the theoretical image, a certain sector is normal compared to the theoretical image, and a certain sector is lower than the theoretical image, resulting in stratification of the laser point cloud image. Summary of the invention

[0007] In view of this, in order to at least solve the technical problem in the related art that the laser point cloud image shakes up and down and / or is layered due to the non-ideal characteristics of the laser radar's optical lens in the vertical direction, the purpose of the present invention is to provide a laser point cloud data processing method, device, equipment and storage medium.

[0008] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0009] According to a first aspect of an embodiment of the present invention, a laser point cloud data processing method is provided, which is used to process point cloud 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 arranged in sequence along a vertical direction; each sensor is configured with its own receiving channel, and channel numbers of different receiving channels are different from each other; the method includes:

[0010] Get the target facets corresponding to the point cloud data currently output by all receiving channels;

[0011] 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;

[0012] 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;

[0013] For each receiving channel, if the updated channel number of the receiving channel does not exist in the pre-stored target channel number set, the receiving channel is discarded to obtain a target channel number set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to each of the multiple target sensors, and the set formed by the updated channel numbers of each receiving channel in the target channel set is the same as the target channel number set;

[0014] The point cloud data output by each receiving channel in the target channel set is processed to obtain a point cloud image.

[0015] 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:

[0016] 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;

[0017] 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.

[0018] In an optional implementation, when the target facet is a plane, the channel calibration values ​​of each receiving channel corresponding to the target facet are the same.

[0019] In an optional implementation, when the target facet is a curved surface, the step of acquiring the target facet corresponding to the point cloud data currently output by all receiving channels includes:

[0020] 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.

[0021] In an optional implementation manner, the facet calibration table further stores channel calibration values ​​between different angle ranges of each facet in the prism and each receiving channel;

[0022] 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:

[0023] Determine, according to the angular position of the target facet, a target angle range corresponding to the target facet in the facet calibration table;

[0024] 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.

[0025] 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;

[0026] 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:

[0027] 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;

[0028] 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.

[0029] In an optional implementation, the channel calibration values ​​of each receiving channel corresponding to the target angle range are the same.

[0030] 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 point cloud 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 arranged in sequence along a vertical direction; each sensor is configured with its own receiving channel, and the channel numbers of different receiving channels are different from each other; the device includes:

[0031] The acquisition module is configured to: acquire the target facet corresponding to the point cloud data currently output by all receiving channels;

[0032] 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;

[0033] 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;

[0034] The screening module is configured to: for each receiving channel, if the updated channel number of the receiving channel does not exist in the pre-stored target channel number set, discard the receiving channel to obtain a target channel set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to the multiple target sensors, and the set formed by the updated channel numbers of the receiving channels in the target channel set is the same as the target channel number set;

[0035] The processing module is configured to: process the point cloud data output by each receiving channel in the target channel set to obtain a point cloud image.

[0036] 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.

[0037] 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.

[0038] The laser point cloud data processing method, device, equipment and storage medium provided by the embodiment of the present invention divide the receiving unit of the laser radar into redundant sensors and target sensors, and set the redundant sensors on both sides of the target sensor in the vertical direction, thereby laying a hardware foundation for the subsequent acquisition of the target channel set. Based on this, by first obtaining the target facets corresponding to the point cloud 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 value of each receiving channel corresponding to the target facet, and using the channel calibration value to update the channel number of each receiving channel, each receiving channel after the channel number is updated can be corrected, so that the point cloud data of each receiving channel in the target channel set obtained based on this screening has continuity, non-overlapping and non-misalignment, so that the point cloud image obtained by processing the point cloud data output by each receiving channel in the target channel set will not have up and down jitter and stratification, and the image quality problem caused by the non-ideal characteristics of the laser radar optical lens in the vertical direction is well overcome.

[0039] 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

[0040] 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.

[0041] Figure 1a A perspective view of the three-dimensional structure of a prism provided by an embodiment of the present invention is shown;

[0042] Figure 1b Shows Figure 1a The cross section of the prism in FIG. 1 is a schematic diagram of a regular polygon;

[0043] Figure 1c Shows Figure 1a 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;

[0044] Figure 2 A comparison schematic diagram of two triangular prisms with axial ratio errors provided by an embodiment of the present invention is shown;

[0045] Figure 3 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;

[0046] Figure 4a 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;

[0047] Figure 4b 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;

[0048] Figure 4c 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;

[0049] Figure 4d A schematic diagram of a curved facet with a continuous spire difference change rate provided by an embodiment of the present invention is shown;

[0050] Figure 5a A schematic diagram showing pixel loss in a point cloud image provided by an embodiment of the present invention is shown;

[0051] Figure 5b A complete schematic diagram of a point cloud image provided by an embodiment of the present invention is shown;

[0052] Figure 5c A schematic diagram showing another point cloud image with missing pixels provided by an embodiment of the present invention is shown;

[0053] Figure 5d 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;

[0054] Figure 5e A complete schematic diagram of a point cloud image provided by an embodiment of the present invention is shown;

[0055] Figure 5f A 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;

[0056] Figure 5g 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;

[0057] Figure 5h 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;

[0058] Figure 6 A structural block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0059] Figure 7 A structural block diagram of a receiving unit of a laser radar provided in an embodiment of the present invention is shown;

[0060] Figure 8 A flowchart of a laser point cloud data processing method provided by an embodiment of the present invention is shown;

[0061] Fig. 9 A schematic diagram of the spire difference of a curved facet at different angles provided by an embodiment of the present invention is shown;

[0062] Fig.10 A functional module diagram of a laser point cloud data processing device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0063] 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.

[0064] 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.

[0065] 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.

[0066] In the related technology, laser radar has three scanning modes. The first scanning mode is the combination of a single prism and a long linear array. Scanning is performed through one surface of the prism to output a frame of point cloud image. The second scanning mode is the combination of a single prism and a short linear array. Scanning through one surface of the prism corresponds to a row area in a frame of image (not a pixel row, but a row area covering multiple pixel rows), wherein 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. The prism is controlled by the prism motor to scan horizontally, and the galvanometer is used for vertical optical scanning.

[0067] 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:

[0068] See also Figure 1a to Figure 1c , Figure 1a is a perspective view of a three-dimensional structure of a prism provided by an embodiment of the present invention, Figure 1b Yes means Figure 1a The cross section of the prism in the figure is a regular polygon. Figure 1c yes Figure 1a 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 1a and Figure 1b The cross section of the regular triangular prism shown is also a regular polygon, such as Figure 1b 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 1c shown.

[0069] However, in reality, not all prisms can achieve the above ideal condition. For example, there may be volume ratio errors and prism angle errors.

[0070] For volume ratio error, there are two cases:

[0071] In the first case, there is an axial scale error:

[0072] Continuing with the example of a triangular prism, the triangular prism is extended or shortened along the axis oo', such as Figure 2 As shown, Figure 2This 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.

[0073] In the second case, there is a radial scale error:

[0074] 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 3 As shown, Figure 3 FIG. 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 3 The blue line in the figure), the reflected light paths of the two prisms are not the same, such as Figure 3 As shown by the black dotted line and the red dotted line in the figure, this leads to a steady-state error in the horizontal field of view of the point cloud image. However, this error can usually be corrected through the whole machine calibration process in the factory production process, so it has little impact on the point cloud image in the application.

[0075] There are also two cases for prism angle error:

[0076] In the first case, it is assumed that each face of the prism is an ideal plane or a nearly flat plane:

[0077] like Figure 4a As shown, Figure 4a 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.

[0078] To distinguish the difference between the facet and the rotation axis, Figure 4aAs 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.

[0079] There is another situation in which the above-mentioned pyramidal 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 4b As shown, Figure 4b 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 4a The 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.

[0080] In the second case, the facets of the prism are curved:

[0081] 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 Figure 4c As shown, Figure 4c 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.

[0082] 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 4d As shown, Figure 4dis 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 4d The surface shown has a continuous pyramidal difference rate of change.

[0083] For any of the above prism angle errors, the point cloud image will have the following effects:

[0084] For the laser radar using the first scanning method, the point cloud image will jitter up and down between frames:

[0085] For flat facets:

[0086] 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 Figure 5a As shown, Figure 5a 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.

[0087] 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 Figure 5b As shown, Figure 5b 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.

[0088] 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 Figure 5c As shown, Figure 5c 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.

[0089] 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.

[0090] For curved facets:

[0091] 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 Figure 5d As shown, Figure 5d 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.

[0092] 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 Figure 5e As shown, Figure 5e 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.

[0093] 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. Figure 5f As shown, Figure 5f 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.

[0094] 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:

[0095] 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 5g As shown, Figure 5g 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 5g The top left image) is larger than the theoretical image (i.e. Figure 5g The top image on the right side of the middle) is overall upward, and the second sector image (i.e. Figure 5gAn image in the middle left corner of the image) and a theoretical image (i.e. Figure 5g 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 5g The bottom left image) is better than the theoretical image (i.e. Figure 5g 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.

[0096] For curved facets, such as Figure 5h As shown, Figure 5h 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 ( Figure 5h The image on the left in the middle) and the theoretical image ( Figure 5h 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.

[0097] 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.

[0098] Therefore, in order to solve the technical problem that the laser point cloud image appears up and down jitter and / or stratification due to the non-ideal characteristics of the laser radar optical lens in the vertical direction, the present invention provides a laser point cloud data processing method, by dividing the laser radar receiving unit into redundant sensors and target sensors, and making the redundant sensors vertically arranged on both sides of the target sensor, the hardware foundation for the subsequent acquisition of the target channel set is laid. Based on this, by first obtaining the target facets corresponding to the point cloud 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 value of each receiving channel corresponding to the target facet, and using the channel calibration value to update the channel number of each receiving channel, each receiving channel after the channel number is updated can be returned to normal, and then the point cloud data of each receiving channel in the target channel set obtained based on this screening has continuity, non-overlapping and non-misalignment, so that the point cloud image obtained by processing the point cloud data output by each receiving channel in the target channel set will not appear up and down jitter and stratification, and the image quality problem caused by the non-ideal characteristics of the laser radar optical lens in the vertical direction is well overcome.

[0099] The laser point cloud data processing method provided by the present invention can be applied to electronic devices, please refer to Figure 6 , Figure 6 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.

[0100] 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.

[0101] The processor is used to read / write data or programs stored in the memory and execute corresponding functions.

[0102] 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.

[0103] It should be understood that Figure 6 The structure shown is only a schematic diagram of the structure of the electronic device, and the electronic device may also include Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown. Figure 6 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0104] 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.

[0105] like Figure 7 As shown, Figure 7is 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 7 middle 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] The following combination Figure 8 The laser point cloud data processing method provided by the embodiment of the present invention is described. Figure 8: 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:

[0110] In step S100, the target facets corresponding to the point cloud data currently output by all receiving channels are obtained;

[0111] 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;

[0112] 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;

[0113] In step S400, for each receiving channel, if the updated channel number of the receiving channel does not exist in the pre-stored target channel number set, the receiving channel is discarded to obtain a target channel number set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to each of the multiple target sensors, and the set formed by the updated channel numbers of each receiving channel in the target channel set is the same as the target channel number set;

[0114] In step S500, the point cloud data output by each receiving channel in the target channel set is processed to obtain a point cloud image.

[0115] 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.

[0116] In the process of executing the laser point cloud data processing method provided by the embodiment of the present invention, while reading the point cloud 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 which the point cloud data output by the receiving channel was obtained, 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 actually working.

[0117] 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.

[0118] 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.

[0119] As an example, assuming that N=128, for a planar target facet, the corresponding facet calibration table may be as shown in Table 1:

[0120] Table 1. Facet calibration table for planar facets

[0121]

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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:

[0126] 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;

[0127] 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.

[0128] 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.

[0129] After the channel numbers of all receiving channels are updated, step S400 can be executed to filter the target channel based on the updated channel number, that is, if the updated channel number of the receiving channel does not exist in the target channel number set, the receiving channel will be discarded, and invalid data flags can be assigned to the discarded receiving channels. In short, since the target channel number set stores the original channel number of the target sensor, Figure 7 For example, the original channel numbers of the target sensors stored in the target channel number set are 1 to 128. Thus, in the process of executing step S400, the receiving channels with channel numbers 1 to 128 can be selected from the updated channel numbers to form a target channel set.

[0130] After obtaining the target channel set, step S500 can be executed to process the point cloud data output by each receiving channel in the target channel set to obtain a corresponding point cloud image, thereby eliminating the phenomenon of up and down jitter and stratification. The technical principle of obtaining a point cloud image based on point cloud data processing can be found in the relevant technology and will not be described in detail here.

[0131] 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:

[0132] 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.

[0133] 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.

[0134] like Fig. 9 As shown, Fig. 9 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. 9 As shown in the left image, the corresponding pyramid difference relationship between the facet and the rotation axis is drawn respectively, such as Fig. 9 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.

[0135] by Fig. 9 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.

[0136] from Fig. 9From 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.

[0137] 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:

[0138] Table 2 Sub-calibration table of facet acc'a'

[0139]

[0140] 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.

[0141] 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.

[0142] It can be seen that, when the target facet is a curved surface, it is also necessary to know the angular position of the target facet 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 point cloud data currently output by all receiving channels can be adjusted to include:

[0143] 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.

[0144] 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.

[0145] 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:

[0146] 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;

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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:

[0152] 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.

[0153] 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.

[0154] 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.

[0155] Similarly, after the channel numbers of all receiving channels are updated, step S400 and step S500 may be performed in sequence to obtain a corresponding point cloud image.

[0156] 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.

[0157] 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 6 For further information, please refer to Fig.10 , Fig.10 This 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 of the above embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments. The laser point cloud data processing device 1000 includes:

[0158] The acquisition module 1100 is configured to: acquire the target facet corresponding to the point cloud data currently output by all receiving channels;

[0159] The determination module 1200 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;

[0160] The updating module 1300 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;

[0161] The screening module 1400 is configured to: for each receiving channel, if the updated channel number of the receiving channel does not exist in the pre-stored target channel number set, discard the receiving channel to obtain a target channel set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to each of the multiple target sensors, and the set formed by the updated channel numbers of each receiving channel in the target channel set is the same as the target channel number set;

[0162] The processing module 1500 is configured to: process the point cloud data output by each receiving channel in the target channel set to obtain a point cloud image.

[0163] In some embodiments, when the target facet is a plane, the process of updating the channel number of the receiving channel by the updating module 1300 according to the channel calibration value of the receiving channel corresponding to the target facet is configured as follows:

[0164] 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;

[0165] 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.

[0166] 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.

[0167] In some embodiments, when the target facet is a curved surface, the process of the acquisition module 1100 acquiring the target facet corresponding to the point cloud data currently output by all receiving channels is configured as follows:

[0168] 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.

[0169] 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;

[0170] 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 1200 is configured as follows:

[0171] Determine, according to the angular position of the target facet, a target angle range corresponding to the target facet in the facet calibration table;

[0172] 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.

[0173] 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.

[0174] Accordingly, the process of updating the channel number of the receiving channel by the updating module 1300 according to the channel calibration value of the receiving channel corresponding to the target facet is configured as follows:

[0175] 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;

[0176] 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.

[0177] In some embodiments, the channel calibration values ​​of each receiving channel corresponding to the target angle range are the same.

[0178] Optionally, the above modules can be stored in the form of software or firmware. Figure 6 The memory shown in the figure or solidified in the operating system (OS) of the electronic device, and can be Figure 6 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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: The method is used for processing point cloud data received by a laser radar, wherein 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; each sensor is configured with its own receiving channel, and the channel numbers of different receiving channels are different from each other; the method includes: Get the target facets corresponding to the point cloud 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 receiving channel, if the updated channel number of the receiving channel does not exist in the pre-stored target channel number set, the receiving channel is discarded to obtain a target channel number set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to each of the multiple target sensors, and the set formed by the updated channel numbers of each receiving channel in the target channel set is the same as the target channel number set; The point cloud data output by each receiving channel in the target channel set is processed to obtain a point cloud image.

2. 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.

3. The method according to claim 1 or 2, characterized in that: In the case where the target facet is a plane, the channel calibration values ​​of each receiving channel corresponding to the target facet are the same.

4. The method according to claim 1, characterized in that: In the case where the target facet is a curved surface, the step of obtaining the target facet corresponding to the point cloud data currently output by all receiving channels includes: 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.

5. The method according to claim 4, characterized in that The facet calibration table also stores channel calibration values ​​between different angle ranges of each facet in the prism and each receiving channel; 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.

6. The method according to claim 5, 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.

7. The method according to claim 5 or 6, characterized in that: The channel calibration values ​​of each receiving channel corresponding to the target angle range are the same.

8. A laser point cloud data processing device, characterized in that: The laser radar is used to process the point cloud data received by the laser radar, wherein 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; each sensor is configured with its own receiving channel, and the channel numbers of different receiving channels are different from each other; the device includes: The acquisition module is configured to: acquire the target facet corresponding to the point cloud data currently output by all receiving channels; 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; 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; The screening module is configured to: for each receiving channel, if the updated channel number of the receiving channel does not exist in the pre-stored target channel number set, discard the receiving channel to obtain a target channel set; wherein the target channel number set stores the original channel numbers of the receiving channels corresponding to the multiple target sensors, and the set formed by the updated channel numbers of the receiving channels in the target channel set is the same as the target channel number set; The processing module is configured to: process the point cloud data output by each receiving channel in the target channel set to obtain a point cloud image.

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.

Images