Laser Scanner Ground-Object Distinction via Speed-Corrected Composite Imaging
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Solution Overview
Problem
Existing laser scanner systems face challenges in reliably distinguishing between object measurements and ground measurements, especially when using multi-line scanners, due to system-related offsets and low error tolerance, requiring complex setups and high precision.
Innovation Solution
The method involves creating a composite scan image from individual images corrected using current vehicle speed, where successive scans are used to differentiate between ground and object measurements by leveraging the difference in distance changes relative to the vehicle's speed, allowing for safe and reliable differentiation using a single scanning plane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple scanning planes are used to distinguish ground from objects, then measurement reliability improves, but device complexity increases
Solution Approach 1:
The patent segments the scanning process into multiple individual images captured at different time points, rather than using multiple simultaneous scanning planes. Each individual image is processed separately and then combined, reducing hardware complexity while maintaining the ability to distinguish ground from objects through temporal separation.
Solution Approach 2:
The patent transitions from using multiple scanning planes arranged vertically in space to using multiple scans taken at different time points in the temporal dimension. This dimensional shift allows the system to achieve ground-object differentiation using a single scanning plane over time, rather than multiple planes simultaneously.
2Measurement precision
If multiple scanning planes are used for ground measurement, then measurement precision improves, but system error tolerance decreases
Solution Approach 1:
The patent applies preliminary correction to individual images based on vehicle speed and position data before combining them into a composite scan image. This preprocessing step compensates for vehicle movement effects in advance, improving measurement precision without requiring multiple scanning planes that would reduce error tolerance.
3Productivity
If individual images from successive scans are combined, then temporal resolution improves, but processing complexity increases
Solution Approach 1:
The patent uses the vehicle's own motion data (speed and position information) to automatically correct and align individual images during processing. This self-service approach leverages existing vehicle sensor data to simplify the image registration process, improving temporal resolution without proportionally increasing processing complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables accurate and reliable differentiation between ground and object measurements, even with a single-line laser scanner, achieving high temporal and spatial resolution while ensuring safe obstacle detection and reducing system complexity.
Implementation Method 1
The direction of the reflected laser beam is determined using the transit time measurement method
Data Source
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AI summary
The present invention relates to a method for spatially resolving the surroundings of a vehicle moving on the ground using a laser scanner and for distinguishing between an object present in the vicinity of the vehicle and the ground. The laser scanner scans the surroundings in at least one scan plane, and during a scan covering a scan angle, determines a distance measurement for different directions in the scan plane. This distance measurement is obtained by emitting laser radiation in the respective direction and evaluating the laser radiation reflected back from that direction using the time-of-flight measurement method. From these distance measurements, a spatially resolved scan image of the surroundings is created.The scan image is constructed from several individual images, which are created from distance measurements of successive scans, whereby the individual images are corrected using the current vehicle speed and after the correction, the presence of different distances of the individual images is interpreted as ground and the presence of a common distance of the individual images as object.