A hemispherical field of view laser radar weighted NDT positioning method
By combining dynamic target perception, dynamic probability calculation of point clouds, and wheel speed data fusion, a weighted NDT objective function is constructed, which solves the problem of dynamic points mistakenly deleting static structural points in dynamic environments and improves positioning accuracy and robustness.
CN121956019BActive Publication Date: 2026-06-16HANGZHOU ZICHUANG QINGZHI TECHNOLOGY CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HANGZHOU ZICHUANG QINGZHI TECHNOLOGY CO LTD
- Filing Date
- 2026-04-01
- Publication Date
- 2026-06-16
Smart Images
Figure CN121956019B_ABST
Abstract
The application relates to a hemispherical field of view laser radar weighted NDT positioning method, which comprises the following steps: S1, dynamic target sensing and point cloud dynamic probability calculation; S2, point cloud weighting and NDT target function construction; S3, wheel speed data fusion and pose calculation; S4, NDT point cloud matching and optimization; S5, degradation detection and adaptive adjustment mechanism; and S6, output of a positioning result. The hemispherical field of view laser radar weighted NDT positioning method can convert the dynamic probability output by dynamic target sensing and multi-target tracking into point-level weight, suppresses the interference of dynamic points on positioning, and improves the positioning precision and convergence. Meanwhile, the application combines chassis wheel speed data, calculates and fuses odometer information to provide prior information for positioning, so that the stability of positioning is enhanced.
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