Dynamic compensation method for three-dimensional laser distance metering data of mobile robot in moving process

Abstract

The invention provides a dynamic compensation method for three-dimensional laser data in a moving process, and belongs to the technical field of autonomous environmental perception of a mobile robot. The method is mainly characterized in that a three-dimensional laser data acquisition manner in the moving process is improved, and a reasonable data compaction method is adopted to improve algorithm execution efficiency. Therefore, the dynamic compensation method adopts a dynamic data matching method to correct robot position and posture errors caused by a mileage recorder, and improve the accuracy of the three-dimensional laser data obtained in the moving process; on the other hand, a plane extraction method is adopted to filter out disordered laser data, so as to reduce matched laser point quantity, and ensure that the dynamic compensation method can be carried out on-line in real time. The dynamic compensation method can be used in the fields such as structured scene reconstruction of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of autonomous environment perception of mobile robots, and is mainly used for real-time positioning and scene reconstruction of mobile robots in unknown dynamic environments, and particularly relates to the dynamic monitoring of ranging data obtained by three-dimensional laser ranging sensors during the movement of mobile robots. compensation method. The invention uses a mobile robot as a motion carrier, a three-dimensional laser ranging platform and an odometer as a measuring device, and a vehicle-mounted computer as a data collection and processing platform to dynamically compensate the three-dimensional laser ranging data acquired by the moving mobile robot. Background technique [0002] Laser sensors are one of the most important sensing devices in the field of mobile robots. They have the advantages of high measurement accuracy and low environmental interference. However, with the continuous development...

AI Technical Summary

Problems solved by technology

One method is to obtain 3D laser data by high-speed rotation of the laser point column. Its advantage is that it can ensure real-time acquisition of 3D data. The disadvantage is that the data is sparse and the viewing angle in the vertical direction is limited.

Literature (Yu Y, Gao Z, Zhu B, et al. Recognition and Classification of Vehicle Target Using the Vehicle-Mounted Velodyne LIDAR[R]. SAE Technical Paper, 2014.; Huang P S, Hong W B, Chien H J, et al. Extrinsic calibration of a multi-beam LiDAR system with improved intrinsic laser parameters using v-shaped planes and infrared images[C] / / IVMSP Workshop, 2013 IEEE 11th.IEEE,2013:1-4.) Velodyne HDL is used -64E three-dimensional laser ranging sensor, the device can rotate at a high speed in the horizontal direction at the fastest frequency of 15Hz, and each laser point column in the vertical direction is only composed of 64 laser points, making the acquired three-dimensional laser data relatively sparse , cannot meet the application requirements such as scene reconstruction and environment understanding, so it is necessary to integrate multiple sets of 3D laser data through robot pose information when using it

[0004] The second method of obtaining 3D data uses a rotating platform to add one-dimensional rotation to the high-precision two-dimensional laser. Although this method can ensure the visual range and data density of the measurement system, it is limited by the characteristics of the two-dimensional laser itself. The rotation speed of the table should not be too fast, resulting in a slow speed of 3D laser data acquisition

It is difficult to meet the various application requirements of mobile robots in terms of data density, collection consistency, and system cost only by relying on 3D laser sensors

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