Integral three-dimensional color laser radar data point cloud generating method

Abstract

The invention solves the problems such as feature extraction, asynchronization and synchronization, feature relevance and data difference value to fuse visual data and laser radar data so as to generate three-dimensional color depth image data, namely a three-dimensional color laser data point cloud, thereby providing precise distance information and rich environment information, effectively overcoming the defects of the traditional laser radar and the visual sensor in the aspects of robustness, information amount, precision and cost. The invention integrates a two-dimensional laser radar, a monocular vision sensor, an inertial navigation data measuring unit, a driving motor and the like into an information fusion-based three-dimensional color laser radar integral unit with universal applicability and high precision, and utilizes inertial navigation data and visual data to perform secondary alignment on laser radar data, the structure is simple, equipment does not need to be subjected to precise calibration, the performance is reliable and stable, the practicability is strong, and the method and the device can be widely used in various indoor and outdoor environments under the motion condition, and have certain universal applicability.

Description

technical field [0001] The invention relates to a data point cloud generation method and device, in particular to an integrated three-dimensional color laser radar data point cloud generation method. Background technique [0002] Lidar and vision sensors are the most commonly used sensors in the field of environment perception for mobile robots. Traditional mobile robot navigation systems use visual sensors to obtain rich environmental information, and use lidar to obtain precise distance information. Visual sensors are rich in information, but such sensors are greatly affected by ambient lighting conditions. For example, good data analysis methods applied in outdoor environments can fail due to drastic changes in lighting conditions when applied to data acquired in indoor environments. At the same time, the depth information acquisition method based on visual data has high computational complexity and poor depth data accuracy. Lidar data has good environmental robustness...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of information volume, sensor cost and information accuracy in the prior art, the purpose of the present invention is to provide an integrated three-dimensional color laser radar data point cloud generation method

[0004] The present invention solves the problems of feature extraction, asynchronous synchronization, feature association, data difference, etc., and fuses visual data and laser radar data to generate three-dimensional color depth image data, that is, three-dimensional color laser radar data point cloud, thereby providing accurate distance Information and rich environmental information have certain universal applicability; integrate two-dimensional laser radar, monocular vision sensor, inertial navigation data measurement unit, drive motor, etc. into a three-dimensional color laser radar integrated unit, and use inertial navigation data and visual data Secondary alignment of lidar data, simple structure, no need for precise calibration of equipment, reliable and stable performance, strong practicability, can be widely used in various environments such as indoors and outdoors under sports conditions, and has certain universal applicability

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