Obstacle detection method based on information fusing of laser radar and CCD camera

Abstract

The invention provides an obstacle detection method based on information fusing of a laser radar and a CCD camera. The angle resolution of a two-dimensional image of the CCD camera is high, but the distance information of an obstacle cannot be acquired and the angle resolution is easily affected by external illumination and shadows. The laser radar is capable of acquiring distance information of the surrounding environment, wide in scanning range and less effected by external conditions, but the angle resolution is quite low compared with an image. By fusing the image information of the CCD camera and the distance information of the laser radar, the precise size of the shape of the obstacle can be acquired. According to the invention, problems of low precision and poor robustness of a single sensor in detection of obstacles are solved and the requirement for obstacle detection in the current environment perception system can be met.

Description

technical field [0001] The invention relates to a lidar and CCD camera obstacle detection device, and especially designs an obstacle detection method based on information fusion of laser radar and CCD camera. Realize the accurate detection of obstacles in high-risk complex environments, so as to ensure the normal and safe operation of vehicles. Background technique [0002] Unmanned intelligent vehicles need to work in some harsh and high-risk complex environments, and a real-time and accurate environmental perception module is inseparable. A correct understanding of the surrounding environment is the fundamental prerequisite for ensuring the normal operation of the vehicle, and obstacle detection is used as an environmental perception module. An important part of the test, the accuracy of its detection cannot be ignored. [0003] There are usually two conventional detection methods: the vision-based method, although the precise detection of obstacles can be achieved by vir...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is that it is difficult for a single sensor in the field of unmanned intelligent vehicles to meet the requirements of environmental adaptability and detection accuracy at the same time, and an obstacle detection method that combines the distance information of the laser radar with the color and texture information of the CCD camera is provided , the method comprises the following steps in turn:

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