LiDAR Point Cloud Densification via Variable Scanning Intervals
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Solution Overview
Problem
The commercialization of LiDAR technology is hindered by material constraints and high costs, particularly for the 1500 nm band, which has a higher safety threshold for human eyes, while the 900 nm band has a low safety threshold, limiting the continuous improvement of point cloud density while meeting ranging performance requirements.
Innovation Solution
A point cloud densification method and apparatus that control the interval between scanning lines of adjacent emissions in a LiDAR to densify regions of interest, improving detection efficiency while ensuring human eye safety, by obtaining a point cloud densification multiple for each level of detection field of view and calculating the interval between scanning lines based on this multiple.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the 900 nm LiDAR is used to improve point cloud density, then the detection precision is improved, but the safety for human eyes deteriorates due to low safety threshold
Solution Approach 1:
The patent applies local quality by implementing different scanning line intervals for different regions of the detection field. Specifically, the first interval (first difference value) is applied to a first region while the second interval (second difference value) is applied to a second region. This allows the LiDAR to achieve high point cloud density in regions where safety permits, while maintaining safety standards in regions where the laser might directly affect human eyes.
Solution Approach 2:
The patent employs dynamics by making the scanning line interval variable rather than fixed. The scanning apparatus adjusts the interval between scanning lines dynamically based on the region being scanned, using different difference values for different regions. This dynamic adjustment enables the system to optimize point cloud density while adapting to safety requirements for human eyes in different spatial locations.
2Measurement precision
If the scanning line interval is reduced to increase point cloud density, then the measurement precision is improved, but the detection time increases due to more scanning lines
Solution Approach 1:
The patent applies local quality by implementing different scanning line intervals for different regions of the detection field. Specifically, the first interval (first difference value) is applied to a first region while the second interval (second difference value) is applied to a second region. This allows the LiDAR to achieve high point cloud density in regions where safety permits, while maintaining safety standards in regions where the laser might directly affect human eyes.
Solution Approach 2:
The patent employs dynamics by making the scanning line interval variable rather than fixed. The scanning apparatus adjusts the interval between scanning lines dynamically based on the region being scanned, using different difference values for different regions. This dynamic adjustment enables the system to optimize point cloud density while adapting to safety requirements for human eyes in different spatial locations.
Data Source
AI summary
Embodiments of this application disclose a point cloud densification method and apparatus, a storage medium, and a LiDAR. The method is applied to the LiDAR, the LiDAR includes an emitter group and a scanning apparatus, and the method includes: obtaining a point cloud densification multiple of a detection field of view at each level; obtaining an interval between scanning lines corresponding to two adjacent emissions based on the point cloud densification multiple of the detection field of view at each level; and performing scanning based on the interval between the scanning lines corresponding to the two adjacent emissions.