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Point cloud correction method and device and readable storage medium

A point cloud and point cloud data technology, applied in image data processing, instruments, computing, etc., can solve problems such as misalignment, poor use effect, and delay in fusion point cloud

Active Publication Date: 2019-06-21
ECARX (HUBEI) TECHCO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this process, due to the different characteristics of the two point cloud generation schemes, the fused point cloud usually produces delays, misalignment, confusion, etc., and the subsequent use in the field of unmanned driving is less effective.

Method used

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  • Point cloud correction method and device and readable storage medium
  • Point cloud correction method and device and readable storage medium
  • Point cloud correction method and device and readable storage medium

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Embodiment Construction

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. 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.

[0045] Perception, high-precision positioning, decision-making, and control together constitute the core modules in the field of unmanned driving. Among them, perception and high-precision positioning are extremely dependent on point clouds. There are usually two ways to generate the so-called point cloud: one is to generate interactively through the sensor and the external environm...

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Abstract

The invention provides a point cloud correction method and device and a readable storage medium,relating to technical field of unmanned driving. The method comprises the steps of obtaining first pointcloud data and second point cloud data at the same moment, mapping the first point cloud data and the second point cloud data to the same coordinate system, wherein the overlapped area of the first point cloud data and the second point cloud data is third point cloud data; constructing a multi-stage error equation according to the third point cloud data; calculating a correction result, obtainingthe corrected first point cloud data and / or the corrected second point cloud data according to the correction result so that the fusion precision of the laser point cloud and the visual point cloud is improved, then the overall precision of the output fusion point cloud is improved, and a stable and reliable data source is provided for a follow-up technical scheme of unmanned driving.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to a point cloud correction method, device and readable storage medium. Background technique [0002] At present, in order to obtain a high-precision, robust, and stable point cloud, the conventional solution is to fuse the point cloud generated through the interaction between the lidar and the external environment, and the point cloud generated by the physical model algorithm after the visual sensor perceives the external environment. Then generate a high-precision point cloud. In this process, due to the different characteristics of the two point cloud generation schemes, the fused point cloud usually produces delays, misalignment, confusion, etc., and the subsequent use effect in the field of unmanned driving is poor. Contents of the invention [0003] In view of this, the purpose of the present invention is to provide a point cloud correction method, device a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/50
Inventor 余杰
Owner ECARX (HUBEI) TECHCO LTD
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