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Barrier identification method and system of laser radar

A technology of obstacle identification and laser radar, which is applied in radio wave measurement system, satellite radio beacon positioning system, electromagnetic wave reradiation, etc., can solve the problem of undetectable obstacle type, and achieve fast speed and high recognition accuracy Effect

Active Publication Date: 2018-06-12
SHANGHAI ALLYNAV TECH CO LTD
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Problems solved by technology

However, a large number of high-quality samples are required for training, and it is impossible to detect obstacle types that do not appear in the training set

Method used

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  • Barrier identification method and system of laser radar
  • Barrier identification method and system of laser radar
  • Barrier identification method and system of laser radar

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Embodiment Construction

[0043]In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0044] figure 1 A flow chart of a laser radar obstacle recognition method provided by an embodiment of the present invention, such as figure 1 As shown, the method includes: S1, obtaining the original point cloud data collected by the lidar, the position data collected by the global navigation satellite system GNSS, and the attitude data collected by the inertial measur...

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Abstract

The invention provides a barrier identification method and system of a laser radar. The method comprises that S1) original point cloud data, position data and attitude data are fused to obtain fused point cloud data; S2) the fused point cloud data is divided into multiple fused point cloud data segments according to the time sequence, and ICP registering is carried out on point cloud in each fusedpoint cloud data segment to obtain superposed point cloud data; S3) point clouds of each group of superposed point cloud data segment are clustered to obtain candidate barriers, and static information of the candidate barriers is extracted; and S4) according to the static information of the candidate barriers, static and dynamic barriers are identified from the candidate barrier, and dynamic information of the dynamic barrier is extracted. A graph can be made needless of using offline data of the laser radar, the method and system are suitable for detecting barriers in different complex application environments, the identification precision is high, and the speed is high.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of laser radar, and more specifically, to a laser radar obstacle recognition method and system. Background technique [0002] Obstacle detection technology is a key technology to ensure the safe operation of mobile platforms such as unmanned vehicles and robots. Traditional obstacle detection methods are mainly based on millimeter-wave radar, ultrasonic, infrared, stereo vision and other sensors, but their shortcomings are obvious. The detection range of millimeter-wave radar is directly restricted by frequency band loss, and the accuracy is not high. Ultrasonic waves are highly divergent, unable to accurately measure small-scale distances, and interfere with each other. Infrared thermometry is sensitive to ambient temperature changes. Stereo vision is based on binocular color images, which are strongly affected by light. [0003] LiDAR obtains point cloud information of the surroun...

Claims

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Application Information

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IPC IPC(8): G01S17/93G01S17/02G01S19/03
CPCG01S17/86G01S17/93G01S19/03
Inventor 张漫季宇寒李世超曹如月苗艳龙李寒李民赞
Owner SHANGHAI ALLYNAV TECH CO LTD
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