Method for creating 3D map based on 3D laser

Abstract

The invention discloses a method for creating a 3D map based on a 3D laser, and belongs to the technical field of data processing. The method comprises the steps of performing rich information processing on point cloud data obtained by a 3D laser sensor to obtain an ordered laser point cloud data frame; performing feature extraction on the point cloud data frame to obtain feature points of the point cloud data frame; optimizing a transformation matrix according to an LM algorithm, and enabling the transformation matrix capable of enabling the sum of squares of distance errors of the matching of all feature points to be the minimum to serve the pose of radar; transforming each frame of the point cloud data into a point cloud map under a global coordinate system according to the pose of theradar, and transforming the point cloud map into a map expressed by voxels. According to the invention, rich information processing is performed on the original laser data, thereby providing a data basis for the creation of the 3D map. The method avoids a problem that it is inconvenient to perform filtering and denoising by adopting a point cloud map through adopting an expression mode of the voxel map, and the definition of the 3D map is improved.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a 3D laser-based 3D map creation method. Background technique [0002] With the development of sensor technology and the application of robot technology, more and more substation inspection robots equipped with 3D laser radar are used. Obtaining high-precision point cloud maps by fusing 3D laser data is the basic function of robots. The heart of visualization. [0003] At present, most of the existing substation 3D map creation methods have low accuracy and poor repeatability. If dense data is not obtained, the same environmental area needs to be scanned multiple times, but this will cause problems such as map ghosting. Among them, the most widely used multi-sensor method requires 3D laser to cooperate with high-precision IMU and differential GPS, and the cost is relatively high. Contents of the invention [0004] The purpose of the present invention is to provide a 3...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the existing substation 3D map creation methods have low accuracy and poor repeatability. If dense data is not obtained, the same environmental area needs to be scanned multiple times, but it will cause problems such as map ghosting.

Among them, the most widely used multi-sensor method requires 3D laser to cooperate with high-precision IMU and differential GPS, and the cost is relatively high

Images