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Feature saliency detection method based on lidar in line environment

A technology of laser radar and detection method, which is applied in the direction of radio wave measurement system, measurement device, electromagnetic wave re-radiation, etc., and can solve the problem of large positioning error

Active Publication Date: 2021-07-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

When the lidar SLAM method is used in this type of environment, the positioning error along the characteristic direction of the line is large

Method used

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  • Feature saliency detection method based on lidar in line environment
  • Feature saliency detection method based on lidar in line environment
  • Feature saliency detection method based on lidar in line environment

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Experimental program
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Embodiment Construction

[0072] The flow process of the inventive method is as figure 1 As shown, the specific steps are as follows:

[0073] Step 1: Periodically collect lidar information S(k) at time k;

[0074] Step 2: Group the lidar point cloud data:

[0075] (2.1) Coordinate conversion is performed on the point cloud data scanned by the lidar to obtain its coordinates in the Cartesian coordinate system. remember p i is the i-th laser point of S(k) (i=1,2,...,N 0 ), N 0 is the number of laser points in S(k). Define the origin of the Cartesian coordinate system as the location of the laser radar, the X-axis is the forward direction, and the Y-axis is the right direction; the origin of the polar coordinate system is the location of the laser radar, the forward direction is the polar axis, and the polar angle is taken as positive in the clockwise direction. The range of polar angle is [0°,360°). and for p i Coordinates in the Lidar Cartesian coordinate system; (ρ i ,θ i ) for p i Coord...

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Abstract

The invention discloses a feature saliency detection method based on laser radar in a line environment, comprising the following steps: (1) periodically collecting laser radar information S(k) at time k; (2) grouping laser radar point cloud data; 3) According to the spatial geometric relationship of the point cloud data, the lidar point cloud data is divided into two point sets; (4) the two point sets obtained in step (3) are fitted with a straight line; (5) the environment features are constructed The salience function is used to judge the salience of environmental features. The beneficial effects of the present invention are: through the present invention, the feature salience detection of the environment can be completed, and the environment with inconspicuous features can be accurately identified.

Description

technical field [0001] The invention relates to the technical field of positioning, navigation and control, in particular to a feature saliency detection method based on laser radar in a line environment. Background technique [0002] Robots often use simultaneous localization and map construction (SLAM, Simultaneous Localization and Mapping) technology for autonomous navigation, and position and map construction according to changes in the detection robot relative to the environment. Lidar can obtain high-precision ranging information and does not depend on the lighting conditions of the external environment. It is often used as a SLAM sensor. [0003] The feature-insignificant environment referred to in the present invention is mainly an environment similar to a corridor or a single-sided wall structure. In this environment, the geometric features are mostly parallel line features, and there are no reference environment features along the line feature direction. When the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/93G01C21/20
CPCG01C21/20G01S17/93
Inventor 石鹏吕品赖际舟邹冰倩付相可
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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