The invention relates to a distance and course measurement method based on a
laser radar. According to the method, on the basis of 16-line
laser radar, a distance between wall surfaces on the two sides of the
robot in a long corridor environment and a
yaw angle of the
robot in the advancing direction are measured. The method comprises the following steps of 1) installing a
laser radar sensor on a rotary holder of a
robot, and scanning to obtain three-dimensional
point cloud data of an environment; 2) extracting features required by measurement from the scanned three-dimensional
point cloud data, wherein the specific operation comprises steps of performing straight-through filtering,
statistical filtering, European clustering and random sampling consistency segmentation on the obtained three-dimensional
point cloud, and calculating the
centroid of the clustered point cloud cluster; and 3) according to the obtained
centroid and plane parameters of the point cloud cluster, calculating a distance from the laser radar to the wall surfaces on the two sides of the corridor and the
yaw angle of the robot. According to the method, requirements of the robot on the distance to the wall surfaces on the two sides and the
yaw angle in autonomous navigation in the long corridor environment are met, and autonomous navigation of the robot in a specific scene is realized through provided data.