1534 results about "Lidar point cloud" patented technology

Disclosed are a high-performance loosely-coupled multi-modal data fusion system for a smart driving environmental perception system and a vehicle-mounted device, comprising: a fusion detection model based on a modality-independent feature interaction strategy, which is configured for converting a LiDAR point cloud, a camera image, and a millimeter-wave radar point cloud into a unified bird's-eye view representation, and performing multi-modal fusion; and a fusion tracking model based on a motion-appearance feature cascaded coupling data association strategy, which is configured for performing subsequent trajectory tracking and matching according to multi-modal fusion feature information. A VoD data set and a K-Radar data set are selected for training, verifying, and testing the comprehensive performance of the models, and a TensorRT accelerated inference model is applied, then quantized, and deployed to a vehicle-mounted computational testing platform. The present invention is compatible with mainstream sensor deployment solutions, and achieves the efficient complementary fusion of multi-source heterogeneous sensor information, significantly improving the reliability, accuracy, and adaptability of vehicle-mounted perception systems, thereby effectively responding to extreme operating conditions such as complex traffic scenarios and inclement weather.

The invention relates to the technical field of road crack detection, in particular to a road crack detection method and system based on a fused image. The method comprises the following steps: acquiring road multi-source monitoring data including a visible light image, infrared thermal imaging data and laser radar point cloud data, and performing multi-modal image fusion and road three-dimensional point cloud reconstruction to generate a fused road image and road three-dimensional modeling data; performing crack curvature analysis based on the fused road image to generate crack curvature data; performing reflection crack contour recognition and positioning on the fused road image through the crack curvature data to generate reflection crack initial positioning data; obtaining road base material data; and performing reflection crack stress field reconstruction on the road area according to the reflection crack initial positioning data to obtain a reflection crack stress field. According to the invention, through multi-modal fusion, curvature identification, stress field modeling and crack channel analysis, the accuracy and strain of road reflection crack detection are improved.

The invention provides a flood control project virtual simulation and risk rehearsal method based on digital twinning, and the method comprises the following steps: obtaining drainage basin multi-source data collected by a space-air-ground integrated monitoring network, the multi-source data comprising a satellite remote sensing image, an unmanned aerial vehicle LiDAR point cloud and ground sensor monitoring data; inputting the multi-source data into a pre-constructed digital twin model, wherein the model comprises a spatio-temporal data fusion layer, a physical process modeling layer, a multi-scale simulation deduction layer and a risk assessment decision-making layer which are connected in sequence; the spatio-temporal data fusion layer is used for performing spatio-temporal registration and feature fusion on input multi-source data, and constructing a total element digital backplane; through the space-air-ground integrated monitoring network and the spatio-temporal data fusion technology, high-precision digital mapping of basin total elements is realized. Compared with a traditional single data source, time-space consistency of flood routing simulation is remarkably improved through multi-source data fusion, and prediction errors of key physical processes such as river channel scouring are greatly reduced.

The invention relates to the technical field of building appearance defect detection, in particular to a building appearance defect detection method and system based on an unmanned aerial vehicle, and the method comprises the steps: obtaining the building information of a target building, and generating a hierarchical scanning path and a three-dimensional obstacle avoidance flight path, a visible light image, an infrared thermodynamic diagram and laser radar point cloud information are collected for space-time alignment processing, and an attention mechanism neural network is used for extracting multi-scale features to generate a detection report containing defect three-dimensional coordinates, damage levels and safety risk assessment. The method achieves the purpose of efficiently and accurately detecting the building appearance defects, can adapt to complex building structures and environmental conditions, supports defect trend prediction and maintenance decision, and remarkably improves the building safety management efficiency.

The invention relates to the technical field of computer vision and three-dimensional reconstruction, and discloses an exhibition hall three-dimensional modeling intelligent optimization system based on multi-modal data fusion, and the system comprises a data collection module which is configured to synchronously obtain laser radar point cloud data, a multispectral image sequence and inertial measurement unit data; the preprocessing module is used for receiving the output of the data acquisition module, aligning a multi-source sensor coordinate system through a space-time calibration algorithm, and separating a static scene from a dynamic interference element by using a dynamic segmentation network; and the multi-modal fusion module is used for receiving the preprocessed data and carrying out adaptive weighted fusion on the geometric features of the laser radar and the visual texture features through a cross-modal attention mechanism. According to the invention, through multi-modal data fusion and a dynamic scene adaptive mechanism, the modeling precision and the real-time updating capability in a complex exhibition hall environment are significantly improved.

The invention discloses an ultra-wideband laser radar inertial navigation cooperative SLAM (Simultaneous Localization and Mapping) method and system, which are suitable for robot positioning and mapping tasks in a GPS (Global Positioning System)-free environment. According to the method, high-frequency motion priori of an IMU, relative pose constraint of LiDAR and absolute ranging information of UWB are fused, a unified factor graph optimization model is constructed, and multi-sensor cooperative positioning is realized; in the system initialization stage, IMU bias calibration, UWB base station coordinate configuration and LiDAR initial attitude estimation are completed; in the operation process, IMU pre-integration is utilized to predict the pose, LiDAR point cloud registration is utilized to obtain the relative motion between key frames, UWB ranging is combined to construct a residual item, a self-adaptive weight mechanism is introduced to suppress ranging abnormity, and the fusion robustness is improved; the system supports geometric feature loopback detection, cross-frame constraints are constructed in combination with UWB to carry out closed-loop optimization, and an optimization result is used for real-time incremental updating of a global map; the method has the advantages of high positioning precision, strong anti-interference capability, wide application scene and the like.

The invention discloses a multi-modal image automatic labeling system and method, and relates to the technical field of image data processing. According to the multi-modal image automatic labeling system and method, time sequence alignment is carried out on video streams and laser radar point cloud data through an asymmetric dynamic time warping algorithm, semantic and geometric features are extracted, and the elastic coefficient of the algorithm is dynamically adjusted. And combining a modal perception attention mechanism, dynamically allocating fusion weights of the video stream and the laser radar according to the features, generating a cross-modal joint feature vector, and outputting a preliminary labeling result. And generating an annotation robustness index by calculating the prediction entropy and the three-dimensional intersection-to-union ratio confidence of the target detection frame, and iteratively optimizing the annotation result. And mapping the cross-modal features and the labeling result into a space-time correlation map, and displaying the three-dimensional positioning, motion trail and modal contribution degree thermodynamic diagram of the target in real time. The problems of time alignment, feature fusion and labeling robustness are effectively solved, and a high-precision and interpretable automatic labeling solution is provided.

The invention provides a forest land tree height measurement and determination method and system based on laser radar point cloud data. Stress wave signals are collected based on a trunk base acoustic emission sensor array to generate an acoustic characteristic parameter set, the digital twin model is driven to complete forest stand structure topological optimization, and a three-dimensional growth vector model reflecting the internal mechanical state of a trunk is formed. And synchronously fusing high-precision slope point cloud data returned by the unmanned aerial vehicle laser radar in real time, correcting a terrain distortion error through a dynamic splicing algorithm in combination with stress distribution characteristics, and generating a crown segmentation boundary constrained by physical characteristics. And finally outputting a tree height parameter corrected by the abrupt slope topography through model iterative optimization and space vector analysis. According to the technical scheme, synchronous sensing of the three-dimensional shape and the mechanical state of the tree in the complex terrain environment is achieved, and the tree height measurement error is reduced.

The invention relates to a tower crane operation control system based on complex scene three-dimensional real-time modeling. According to the system, a lifting hook is coarsely positioned through a lifting hook positioning and state sensing unit, a real-time position is positioned by combining a laser radar point cloud clustering algorithm with historical pose data, and visual tracking is synchronously performed by means of a tower top camera AI; converting the real-time point cloud data into a 3D voxel grid map, generating a global path by using a 3DA algorithm, and outputting a hoisting track after smooth processing and track optimization; establishing a sling-lifting hook double-pendulum dynamic model, predicting a state sequence based on a model prediction control algorithm, and adjusting a control signal through a feedforward compensation item and a feedback correction item; and the man-machine interaction and monitoring unit is used for displaying the cantilever angle, the lifting hook height and the three-dimensional map of the tower crane in real time and remotely intervening the operation state of the tower crane. According to the system, multi-source data are fused to construct a high-precision three-dimensional map, lifting hook positioning and full-view tracking are achieved, and lifting safety and trajectory tracking precision are improved through path planning and dynamics control.

The invention discloses a wounded rescue life detection and positioning method based on deep learning. The method comprises the steps that S1, multi-view RGB-D images, laser radar point clouds, millimeter wave vital sign radar data and infrared thermal image data are collected and subjected to time synchronization; s2, outputting a pixel-level semantic mask; s3, generating a semantic point cloud of the wounded; s4, forming a metric-semantic double-map data set; s5, generating vital sign scores and writing the vital sign scores into a metric-semantic double-map data set; s6, updating wounded dynamic anchor point attributes in the measurement-semantic double-map data set; and S7, based on the updated metric-semantic double-map data set, calculating the three-dimensional coordinate and rescue priority sequence of each wounded dynamic anchor point, and generating an obstacle avoidance optimized navigation path for avoiding the risk semantic region. The rescue efficiency and safety are effectively improved.

The invention discloses a multi-modal information fusion odometer construction method for star catalogue positioning, and relates to the technical field of star catalogue patroller positioning. The method comprises the following steps: carrying out space joint calibration on a monocular camera, a laser radar and an inertial measurement unit, reconstructing a laser radar point cloud by using a timestamp of a camera image, and realizing time synchronization of the camera image and the laser radar point cloud; establishing an IMU pre-integration error model; and performing motion compensation distortion removal on the laser point cloud by using an IMU pre-integration result, and extracting geometric features of the distorted laser point cloud based on a neighbor region smoothness calculation method of a fixed measurement distance. By researching a multimodal information fusion odometer method, the accumulative error of motion measurement is reduced, the positioning precision and stability are improved, technical support is provided for design and development of a star catalogue navigation system, and the problems that a single-modal star catalogue positioning method is weak in environment adaptive capacity and poor in algorithm generalization are solved.

The invention relates to the technical field of remote sensing data processing and glacier area calculation, in particular to an unmanned aerial vehicle and satellite remote sensing data fused glacier area calculation method, which comprises the following steps of: cooperatively acquiring a satellite multispectral image and unmanned aerial vehicle high-resolution optical and LiDAR data, performing time synchronization, high-precision space registration and data enhancement processing, and calculating the glacier area through the unmanned aerial vehicle and satellite remote sensing data fusion. A satellite image glacier macroscopic feature and an initial mask are extracted by using a convolutional neural network and an NDSI / NDWI algorithm, and unmanned aerial vehicle image microscopic texture, edge and topographic features are acquired through a local binary pattern, edge detection and LiDAR point cloud; based on pyramid layering and a conditional random field, adopting a variance weighting algorithm to realize multi-scale feature level fusion; and after segmentation through an Otsu algorithm, calculating the area through a pixel counting method and introducing gradient correction, and evaluating the reliability through three types of precision. The method breaks through the limitation of a single data source, fuses macroscopic and microscopic features, improves the boundary positioning precision and calculation efficiency, and is suitable for glacier dynamic monitoring in a complex environment.

The invention relates to the technical field of ground mobile unmanned equipment control, and discloses a ground mobile unmanned equipment autonomous obstacle avoidance control system optimized by artificial intelligence. The system comprises an environment perception layer, a bimodal risk assessment layer, a dynamic decision-making layer, a trajectory optimization layer and a feedback optimization layer. The environment sensing layer adopts a retina fovea centralis imitating mechanism to perform non-uniform sampling on laser radar point cloud data to generate dynamic point cloud partitions; the bimodal risk assessment layer fuses two types of radar data to generate static and dynamic obstacle risk assessment diagrams; the dynamic decision-making layer establishes space-time mapping and generates an obstacle confidence coefficient matrix through a graph neural network; the trajectory optimization layer converts the matrix into a control parameter based on a multi-objective evolutionary algorithm, and issues the control parameter through a time-sensitive network protocol; and the feedback optimization layer monitors environment change, calculates deviation, generates an effectiveness index, and dynamically adjusts a point cloud acquisition strategy until the index is optimal. According to the system, the autonomous obstacle avoidance capability and adaptability of the ground mobile unmanned equipment in a complex environment are enhanced.

The invention discloses an unmanned vehicle intelligent obstacle avoidance method and system based on a multi-modal sensor, and relates to the field of automatic driving and intelligent traffic. According to the technical key points of the invention, data of a laser radar and a depth camera are aligned through a space-time registration module; the laser radar point cloud is preprocessed, obstacle point cloud is segmented, fusion clustering is carried out in combination with three-dimensional semantic seed points output by a depth camera, and an obstacle cluster with a semantic tag is generated; and calculating a three-dimensional directed bounding box (OBB) of an obstacle, dynamically adjusting a safety distance according to the speed of the vehicle, expanding the OBB of the vehicle, and carrying out collision detection by adopting a separation axis theorem. When a collision risk is detected, the system sequentially triggers a first-level early warning instruction and a second-level emergency braking instruction, and safe and efficient unmanned vehicle dynamic obstacle avoidance is achieved. According to the method, the advantages of multiple sensors are fully utilized, the obstacle detection precision and the response speed are effectively improved, and reliable technical support is provided for application of the unmanned driving technology in a complex road environment.

The invention discloses an intelligent geographic surveying and mapping data processing analysis method and system, and the method comprises the steps: obtaining satellite image data, LiDAR point cloud data and unmanned aerial vehicle aerial photography data, obtaining multi-source heterogeneous surveying and mapping data, building a DC-CNN dual-channel convolutional neural network model, adding a cross-channel feature fusion module on the basis of a model spectrum channel and a geometric channel, and carrying out the multi-source heterogeneous surveying and mapping data fusion. And utilizing a convolutional layer in a depth separable convolution substitution model, inputting the fused multi-source heterogeneous surveying and mapping data into the target DC-CNN network model for identification, and performing association modeling on the surveying and mapping feature data, topographic parameters and environmental data to obtain a multi-scale geographic knowledge map. The extraction efficiency of the model on key features is improved, so that the model has better real-time performance and expandability while keeping high precision.

The invention relates to the technical field of risk prediction, in particular to a collision risk prediction method of a low-altitude aircraft in high-density flight in a complex environment, which comprises the following steps: acquiring a point cloud through a three-dimensional laser radar, clustering to generate an obstacle trajectory, matching the trajectory to identify a disturbance characteristic segment, calculating a deviation angle by combining a path vector to generate a disturbance frequency graph, and calculating the collision risk of the low-altitude aircraft. And extracting a parameter modeling dynamic safety interval, and fusing multiple factors to evaluate a collision risk level. According to the method, obstacle trajectory topology is constructed through combination of three-dimensional laser radar point cloud time window division and density clustering, sudden change features are identified through trajectory similarity matching, a Gaussian kernel dynamic safety envelope is generated through combination of course offset statistics and included angle operation, and a self-matching threshold value is established through normalization parameters and radial basis weighting. The method improves the high-density flight collision prediction precision, enhances the weather and obstacle heterogeneity matching capability, reduces the misjudgment early warning delay, and achieves the multi-variable flight situation collaborative analysis.

The invention relates to the technical field of BIM, in particular to a BIM-based construction progress intelligent management and control method and system, and the method comprises the steps: constructing a BIM digital twin cloud model, fusing a panoramic image and LiDAR point cloud data, dynamically selecting a data source update model through an algorithm, extracting engineering topology, building a construction network diagram, and generating a state evolution trajectory in combination with environment and resource data. Predicting and visualizing milestone time, comparing field data with a BIM model to generate progress deviation information, performing stability analysis, triggering resource allocation when a threshold value is exceeded, synchronizing a material supplier and a field manager, dynamically adjusting personnel, equipment and materials, dynamically adjusting a milestone plan based on multiple data, and presenting and guiding allocation through the BIM model. The construction progress is ensured to be consistent with the plan, and the complex interaction relationship and dynamic characteristics in the construction process are captured through nonlinear dynamic system modeling in combination with LiDAR point cloud and other high-precision data.

The invention discloses an intelligent park management system based on cloud computing and Internet of Things, and relates to the technical field of park management systems, and the system comprises a dynamic digital twinborn body module which comprises a heterogeneous data fusion layer which integrates a BIM model, LiDAR point cloud, an unmanned aerial vehicle inspection image and distributed loT sensor data, and eliminating timestamp deviation of multi-source data by adopting a space-time alignment algorithm, and generating a millimeter-level precision three-dimensional park twin model. Through the construction of the high-precision digital twinborn model, the panorama and equipment operation state of the park can be accurately presented in real time, the timestamp deviation and spatial registration error of multi-source data are eliminated, the real-time performance and accuracy of the data are improved, a solid data basis is provided for subsequent intelligent simulation and early warning decision, and the response and monitoring capabilities of the system are improved.

The invention discloses an intelligent car coupler identification method and system of a car dumper based on a picking and re-hooking robot, and relates to the technical field of intelligent identification, the method comprises the following steps: multi-modal data is collected and preprocessed, and the multi-modal data comprises laser radar point cloud data, camera images and infrared data; fusing the processed multi-modal data, identifying coupler information by adopting a convolutional neural network and an attitude estimation algorithm, and generating a coupler identification result; a path planning algorithm is adopted, a grabbing point path of the car coupler is calculated, interferents are avoided, the grabbing path is optimized, and an optimal grabbing path is generated; and the robot moves to the position of the car coupler according to the optimal grabbing path, the grabbing posture is corrected in real time through image perception, and a mechanical arm tail end executor is driven to clamp the car coupler for grabbing. Through multi-modal data fusion and path planning, the coupler is accurately recognized, the grabbing path is optimized, and the grabbing precision and stability of the robot in a complex environment are improved.

The invention relates to the technical field of land resource monitoring, in particular to a land resource dynamic monitoring and early warning method and system based on multi-source remote sensing data fusion, and the method comprises the steps: employing an unmanned plane to periodically collect optical images, SAR echoes and LiDAR point clouds, constructing a ground three-dimensional digital model, and carrying out the land parcel division; performing fusion to form a multi-dimensional feature vector, establishing an LSTM land parcel feature evolution model, and predicting a change rate interval of each feature in a current period based on a historical sequence; constructing a time sequence difference change detection algorithm, calculating a land parcel change rate, and screening potential abnormal land parcels by taking a prediction interval as an anomaly judgment threshold value; a double-branch convolutional neural network is adopted to identify crop states, growth stages and construction violation behaviors, abnormity is judged and determined, and confidence is given; spatial clustering is carried out on determined abnormal land parcels, accurate boundaries are obtained in combination with a three-dimensional model, multi-level early warning information is generated, and the decision-making efficiency and response speed of land resource monitoring are improved.

The invention relates to the technical field of safety monitoring, and particularly discloses an operation safety distance management method based on laser radar point cloud data, and the method comprises the steps: generating a dangerous point cloud set based on an initial three-dimensional point cloud model of a complete field environment; performing coordinate transformation on the point cloud data currently collected by the three-dimensional laser radar equipment based on the rigid body transformation matrix to obtain current point cloud data; registering the current point cloud data with the initial three-dimensional point cloud model and identifying all independent dynamic targets; determining a danger approaching trend of each independent dynamic target based on the motion prediction trajectory of each independent dynamic target; determining a dynamic safety distance threshold value of each dangerous dynamic target based on the danger approaching trend and the response delay of each independent dynamic target and the additional safety distance of the corresponding dangerous source area; triggering a corresponding alarm mechanism based on the dynamic safety distance threshold and the distance between the point cloud set of each independent dynamic target and the dangerous point cloud set; and the overall safety of a working site is improved.

The invention discloses a dynamic Gaussian filtering point cloud optimization method and system based on local features, and relates to the technical field of point cloud data processing and three-dimensional computer vision, and the method comprises the steps: carrying out the preprocessing of original laser radar point cloud data, dynamically adjusting the sampling rate, constructing an index structure, and carrying out the dynamic Gaussian filtering based on the preprocessed point cloud data. The method comprises the steps of extracting geometric features of local neighborhoods, fusing the geometric features into weighted feature vectors, dynamically adjusting kernel function parameters of Gaussian filtering according to the weighted feature vectors, generating an adaptive filtering window, performing weighted Gaussian filtering processing on point cloud data by using the dynamically adjusted kernel function parameters, and outputting denoised point cloud data. According to the method, efficient point cloud retrieval is realized through dynamic sampling and index construction, multi-feature optimization weight is fused to generate an adaptive filtering window, de-noising and detail reservation are balanced, spatial distribution is recovered, missing points are interpolated and filled, a complete point cloud data set is generated, and data quality and processing precision are remarkably improved.

The invention provides a high-precision topographic mapping and three-dimensional modeling system based on an unmanned aerial vehicle, and the system comprises an unmanned aerial vehicle cooperation module which is used for deploying a multi-source sensor and a sensor electronic interface on the unmanned aerial vehicle, and building a distributed network of the unmanned aerial vehicle; the real-time dynamic positioning module is used for acquiring unmanned aerial vehicle positioning data and an initial target terrain map; the autonomous control module is used for generating a flight path, performing dynamic adjustment, constructing an autonomous flight control model and outputting a flight control instruction; the data quality enhancement module is used for performing parameter adjustment on the real-time data and performing space and signal level combined processing on the real-time data so as to enhance the data quality; and the terrain model optimization module is used for processing the laser radar point cloud data so as to construct a three-dimensional terrain model post-processing module, and carrying out data visual display and flight suggestion generation. According to the method, the positioning and modeling precision is greatly improved, efficient surveying and mapping are achieved, the single-point fault risk is reduced, and it is guaranteed that tasks can be completed in a high-safety, high-precision and intelligent mode.

The invention relates to the technical field of laser SLAM, and particularly discloses a laser SLAM method based on ground segmentation, and the method comprises the steps: obtaining laser radar point cloud data information, carrying out the point cloud preprocessing of the laser radar point cloud data, and obtaining ground point cloud features and non-ground point cloud features; respectively carrying out feature extraction, feature matching and pose estimation on the ground point cloud features and the non-ground point cloud features to obtain a pose nonlinear optimization constraint result; selecting a key frame according to a pose nonlinear optimization constraint result, constructing a local map according to pose information of the key frame, and obtaining a local map construction result; loopback detection is carried out according to the local map construction result, and a loopback detection constraint result is obtained; and performing global pose optimization processing according to a loopback detection constraint result and a local map construction result to obtain a global pose and global map construction result. The laser SLAM method based on ground segmentation provided by the invention can improve the positioning precision and the operation stability.

The invention relates to a building refined three-dimensional reconstruction method based on airborne LiDAR point cloud, and belongs to the technical field of three-dimensional modeling. According to the method, high-quality building point cloud data is separated from original airborne LiDAR point cloud data, features and bottom contour lines related to a building are extracted, a roof surface is fitted, and the features and the bottom contour lines are projected to the same horizontal reference surface, so that correlation correction of the features and the bottom contour lines is realized; and completing preliminary reconstruction of a building model by using the corrected building bottom contour line and roof surface, constructing constraint conditions by using priori knowledge, and completing expression of detail components on the model and correction of the reconstructed building roof surface. According to the method, the problems of irregularity, distortion, cavities, difficult facade detail structure expression and the like of the reconstruction model caused by the problems of sparse, missing, cavities and the like of the building facade point cloud data in the prior art are effectively solved, and the problems of irregular edges, distortion, cavities and the like of the constructed building model are solved while efficient, automatic and refined modeling is realized.

The invention relates to the field of navigation ship identification, in particular to a ship identity multi-modal verification method and system based on computer vision and deep learning, and the method comprises the steps: obtaining multi-modal data of a ship, the multi-modal data comprising visible light image data, laser radar point cloud data and ship identity information; extracting visual features of the ship according to the visible light image data; performing dynamic space calibration on the laser radar point cloud data; according to a calibration result, extracting three-dimensional structural features of the ship; the visual features, the three-dimensional structure features and the ship identity information are fused and input into a preset verification model, verification results are output through the verification model, and the verification results comprise normal ships and abnormal ships. Different types of data provide multi-dimensional understanding of the ship, and the precision and robustness of ship identification are enhanced.

The invention discloses a landslide mass monitoring method based on an unmanned aerial vehicle laser radar. The landslide mass monitoring method comprises the following steps: S1, constructing an exposed earth surface point cloud model of a first time phase; s2, constructing an exposed earth surface point cloud model of a second time phase; s3, establishing a standard point cloud data set; s4, constructing a multi-dimensional time sequence feature vector sequence; s5, introducing a fusion prediction model of the ARIMA and the neural network, and outputting a final prediction sequence of the deformation trend of the landslide mass; and S6, constructing a disaster chain propagation model, outputting a landslide early warning grade according to a preset grading threshold value, and performing real-time early warning information release and response linkage. According to the invention, through fusion of laser radar point cloud registration analysis and ARIMA-neural network prediction modeling, high-precision dynamic monitoring and early warning of tiny deformation of the landslide mass are realized, and the method is suitable for landslide early identification and disaster emergency response scenes in a complex terrain environment.

The invention discloses an event camera-assisted multi-modal vehicle-mounted three-dimensional occupancy prediction method, which comprises the following steps of: acquiring continuously acquired laser radar point cloud data, images, events and IMU measurement data, performing synchronization of spatial dimensions and time dimensions on various data, and determining the occupancy of a vehicle-mounted vehicle on the basis of the synchronized laser radar point cloud data and IMU measurement data, so as to predict the occupancy of the vehicle-mounted vehicle-mounted vehicle-mounted occupancy of the vehicle-mounted vehicle-mounted vehicle-mounted vehicle-mounted vehicle-mounted vehicle-mounted image. Dense point cloud data is obtained; performing space-time alignment on the dense point cloud, the image and the event, performing semantic annotation on the image after the space-time alignment, performing dynamic and static separation on the dense point cloud after the space-time alignment through cross-modal semantic projection, and performing static scene optimization and dynamic scene fusion to obtain an occupied voxel true value; training an occupancy prediction model based on the laser radar point cloud data and the occupied voxel truth value; and acquiring laser radar point cloud data and image data of a scene and event data in image exposure time, and realizing three-dimensional occupation prediction by using the trained occupation prediction model.

The invention relates to the technical field of surveying and mapping, and discloses a laser radar point cloud data processing surveying and mapping method and system based on deep learning, and the method comprises the steps: obtaining original point cloud data collected by a laser radar, carrying out the preprocessing of the original point cloud data, and obtaining the preprocessed point cloud data; taking a U-Net network as a basic framework, and introducing residual connection and a multi-scale feature fusion mechanism to carry out de-noising processing on the preprocessed point cloud data to obtain de-noised point cloud data; inputting the denoised point cloud data into a Point CNN-GAT model to extract local geometric features and a global topological relation, introducing a dynamic cavity convolution module, and adaptively adjusting the sampling range of a convolution kernel; registering the comprehensive feature vector output by the Point CNN-GAT model, and generating a corresponding surveying and mapping result according to the registered point cloud data; according to the invention, the time cost of data circulation and manual intervention is reduced, and the overall processing efficiency is improved.

The invention belongs to the field of three-dimensional surveying and mapping, and particularly relates to a multi-precision three-dimensional surveying and mapping data fusion method based on dynamic modeling, which comprises the following steps of: assigning low-level semantic tags to LiDAR point cloud geometric features, and assigning high-level semantic tags to optical image texture features; defining a semantic tree structure, and establishing a cross-scale semantic association initial anchor point; constructing a cross-modal graph structure, projecting LiDAR point cloud nodes to optical image neighborhood superpixel nodes, and connecting and aggregating multi-scale semantic features; inputting geometric and image residual texture features by using a U-Net generator and outputting virtual textures; geometry and texture feature fusion and semantic and geometry collaborative optimization are realized through gating weighted feature fusion. According to the method, the problem of inconsistent multi-precision data semantic expression is systematically solved, semantic consistency is improved, texture deficiency is filled, and dynamic balance between geometric fidelity and semantic enrichment is realized.