How to select targets for LIDAR in automatic mode

Abstract

A method for selecting targets for a LIDAR involves generating a digital image of the surrounding environment using a device (3) for generating a wide-field environmental image record for LIDAR measurements. The device (3) is coordinated with a LIDAR detector (1). Objects suitable for reflecting a LIDAR laser beam are then detected on the digital image of the surrounding environment. The detected objects are then grouped into object groups that are physically close to each other. The detection and grouping of objects suitable for reflecting the LIDAR laser beam is performed by software processing of the digital image. The LIDAR then measures the distance to a designated object group. If the distance to the object group is measured, the object group is selected as a group of targets suitable for detection and measurement by the LIDAR. If the distance to the object group is not measured, the object group is excluded from the group of targets suitable for detection and measurement by the LIDAR.

Description

[Technical Field]

[0001] The present invention relates to a method for selecting a target suitable for measurement using a laser system operating in the LIDAR (Light Detection And Ranging) technique. [Background technology]

[0002] Laser systems operating using LIDAR technology require a suitable reflective surface, i.e., a target that reflects the emitted laser beam back to the receiver, in order to function effectively. A suitable target must meet several parameters, in particular, it must be visible, it must be at a distance greater than the system's minimum detection range, and at the same time, it must be closer than the system's maximum detection range, and it must have suitable reflectivity parameters for the laser beam.

[0003] LIDAR systems function in two modes: in one mode, they are operator-controlled, where the operator manually controls the system and therefore the appropriate target for measurement must be manually selected by the operator based on their experience. The second mode is automated, where the LIDAR system scans the space without or with minimal operator intervention. However, in the automatic mode, the system scans the space in defined increments, i.e., it moves a defined value in the free axis and a measurement is performed for each angle in the horizontal plane, for example.

[0004] Both of the above mentioned modes have drawbacks in terms of work inefficiency, resulting in long measurement times using the LIDAR system. In the manual mode, the source of inefficiency is the operator. The selection of targets and the number of measurements can be optimal for the operator, but this requires the operator's expertise, which is not transferable and requires considerable training. In the second mode, the main source of inefficiency is the number of measurements, some of which fail to find suitable targets for measurement, and therefore the data thus obtained cannot be used. Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE INVENTION It is an object of the present invention to substantially obviate the drawbacks of the prior art. [Means for solving the problem]

[0006] The above-mentioned object is achieved by a method for selecting LIDAR targets in automatic mode according to the present invention. The essence of the invention lies in the fact that a digital image of the surrounding environment is generated using a device that generates an image record of the surrounding environment in a wide field of view in which LIDAR measurements are performed, and this device is rectified with the LIDAR detector. Objects suitable for reflecting the LIDAR laser beam are then detected on the digital image of the surrounding environment. These objects are then grouped into object groups that are physically located close to each other. The detection and grouping of objects suitable for reflecting the LIDAR laser beam is performed by software processing of the digital image, which is performed by a separate computer or in the LIDAR detector.

[0007] The LIDAR then measures the distance to the designated object group, and if the distance to the object group is measured, the object group is selected as a group of targets suitable for detection and measurement by the LIDAR, and if the distance to the object group is not measured, the object group is excluded from the group of targets suitable for detection and measurement by the LIDAR. [Brief explanation of the drawings]

[0008] [Figure 1] The invention is explained in more detail in FIG. 1, which shows a schematic representation of a LIDAR system for the method according to the invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] The selection of the LIDAR target in the automatic mode according to the invention is carried out using a device 3 capable of image recording of the surroundings in a wide field of view, to generate a digital image of the surroundings in which the LIDAR measurements are carried out. In this case, the device 3 is arranged on the LIDAR detector 1 or within an entire LIDAR system, which typically includes the LIDAR detector 1 and a laser beam transmitter 5 and receiver 4 arranged on an adjustable device 2. The device 3 is also adjusted to point in the same direction as the LIDAR detector 1.

[0010] The device 3 capable of recording images of the surrounding environment with a wide field of view may be, for example, a camera.

[0011] Objects suitable for reflecting the laser beam emitted by the LIDAR transmitter 5 are then detected on the digital image of the surrounding environment generated by the device 3. These objects that are physically close to each other, i.e. have a similar distance from the LIDAR detector 1 or the entire LIDAR system including the device 3, are then grouped into object groups.

[0012] The detection of objects suitable for reflecting the laser beam of the LIDAR and the grouping of objects into object groups is carried out by software processing of the digital images, either by a separate computer or executed in the LIDAR detector 1 .

[0013] The LIDAR then measures the distance to the designated object group, and if the distance to the object group is measured, this object group is selected as a group of targets suitable for detection and measurement by the LIDAR. If the distance to the object group is not measured, it means that the object group is not within the range of the LIDAR detector 1, and is excluded from the group of targets suitable for detection and measurement by the LIDAR.

[0014] The selection of targets that reach the appropriate parameters is automated, and the number of measurements required to be performed by the LIDAR itself is significantly reduced by significantly reducing the number of measurements where no suitable targets are found, and the amount of unusable data resulting from these measurements is also reduced. Also, because of the automatic mode, the LIDAR system scans a space with no or minimal operator intervention, and the operator or user of such a LIDAR system does not need to have specialized knowledge that is acquired over a long period of time.

Claims

1. generating a digital image of the surrounding environment using a device (3) for generating an image record of the surrounding environment with a wide field of view in which LIDAR measurements are performed, said device (3) being coordinated with the LIDAR detector (1); Then, detecting an object on the digital image of the surrounding environment that is suitable for reflecting the laser beam of the LIDAR; Then, the detected objects are grouped into groups of objects that are physically close to each other; the detection of the objects suitable for reflecting the laser beam of the LIDAR and the grouping of the objects into groups is performed by software processing of the digital image; The LIDAR then measures the distance to the designated group of objects; If the distance to the object group is measured, the object group is selected as a group of targets suitable for detection and measurement by the LIDAR; If a distance to a group of objects is not measured, the group of objects is excluded from the group of targets suitable for detection and measurement by the LIDAR.

1. A method for selecting a target for a LIDAR in an automatic mode, comprising:

2. 2. The method according to claim 1, characterized in that the processing of the digital images is performed by a separate computer or within the LIDAR detector (1).

3. 3. The method according to claim 1 or 2, characterized in that the device (3) for generating the wide field of view surroundings image recording is a camera.

Images