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Vehicle-mounted three-dimensional measurement system device and application thereof

A system device, three-dimensional measurement technology, applied in the direction of measurement device, distance measurement, camera device, etc., can solve problems such as immature application cases

Inactive Publication Date: 2015-02-25
PEKING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, in complex off-road environments, the robustness and accuracy of this method are greatly challenged, and there are no mature application cases

Method used

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  • Vehicle-mounted three-dimensional measurement system device and application thereof
  • Vehicle-mounted three-dimensional measurement system device and application thereof
  • Vehicle-mounted three-dimensional measurement system device and application thereof

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Embodiment Construction

[0033] refer to Figure 1 to Figure 4 Examples of the present invention will be described.

[0034] Such as figure 1 As shown, a three-dimensional measurement device and evaluation system of a drivable area includes:

[0035] S1. Position and attitude estimation based on the monocular camera: According to the image data of the monocular camera, detect the feature points in the image, and match the feature points of the current frame with the feature points of the previous frame image; through the matched feature points, use the paired Polar geometry, which estimates camera motion and determines the position of the camera in the current frame.

[0036] S2. Three-dimensional point cloud generation based on camera and rotating laser: place the laser on the motor, and the motor drives the laser to rotate. After the calibration between the motor and the laser, the laser data is projected into the motor coordinate system; after the calibration with the camera, the laser data is p...

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Abstract

The invention provides a three-dimensional measurement device for a driving range and an evaluation system for the driving range. A three-dimensional measurement device based on a rotary laser radar and a camera is included; three-dimensional laser scanning is realized by the motor rotary single-line or four-line laser radar and image characteristics of the monocular camera are matched with a position posture change of an evaluation platform; and a three-dimensional point cloud of a surrounding is generated by motion compensation. A three-dimensional evaluation method for the driving region comprises the following steps: fusing data of the camera and the laser radar; and establishing traversing analysis of the possibility and evaluating the driving region. Compared with the international similar three-dimensional measurement device, the device has the characteristics of low cost, lower domestic difficulties and the like, and is easy to maintain and hide; and the evaluation on the driving region of a complicated cross-country environment can be effectively realized.

Description

technical field [0001] The invention relates to computer vision, three-dimensional reconstruction and multi-sensor calibration technology, in particular to a vehicle-mounted three-dimensional measurement system device and its application. Background technique [0002] Realizing the autonomous movement of robots in complex off-road environments has important application requirements in the fields of national defense, security, and transportation. However, safe autonomous movement in a complex off-road environment requires the robot to measure the surrounding terrain features in real time in three dimensions, detect positive and negative obstacles, and establish a correct assessment of the surrounding drivable area on this basis, so as to implement reasonable robot motion control. [0003] The detection of the traversable area is the key technology for the autonomous movement of the robot. At present, the mainstream method in the world is to use 32-line or 64-line laser radar ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02G01C11/06G01C3/00
CPCG01C3/00G01C11/02G01C11/06
Inventor 俞毓锋赵卉菁
Owner PEKING UNIV
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