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Point cloud data registration and updating method and device, equipment and storage medium

A point cloud data and cloud data technology, applied in the computer field, can solve the problems of limited registration quality, low registration efficiency, low registration accuracy of local point cloud data, etc., to ensure registration accuracy, improve registration accuracy, The effect of improving the efficiency of point cloud update

Active Publication Date: 2020-06-26
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Due to the huge amount of point cloud data, if a complex registration algorithm is used to register each frame of point cloud data, the registration efficiency will be low; moreover, since the registration algorithm adopts the global optimum, the registration of local point cloud data may The registration accuracy is not high, resulting in limited and unpredictable overall registration quality

Method used

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  • Point cloud data registration and updating method and device, equipment and storage medium
  • Point cloud data registration and updating method and device, equipment and storage medium
  • Point cloud data registration and updating method and device, equipment and storage medium

Examples

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Embodiment 1

[0091] Embodiment 1 of the present invention provides a registration method for point cloud data, the flow chart of which is as follows figure 1 As shown, it can be applied to the registration of the collected multi-frame point cloud data for splicing. The method is executed by a point cloud data registration device, which is implemented by software and / or hardware, and is specifically configured in electronic equipment with certain data computing capabilities. The electronic equipment may be integrated in the collection vehicle, or be independent from and communicated with the collection vehicle.

[0092] Collection vehicles include but are not limited to cars, cars, buses and other road vehicles, and can be unmanned vehicles or manned vehicles. The collection vehicle includes: the vehicle body, the lidar equipment mounted on the vehicle body, the inertial measurement unit and the positioning device.

[0093] The laser radar device is used to periodically emit laser light a...

Embodiment 2

[0116] figure 2 It is a flow chart of a point cloud data registration method in Embodiment 2 of the present application. The embodiment of the present application is optimized and improved on the basis of the technical solutions of the above-mentioned embodiments.

[0117] Further, the operation "using the initial pose information of the first point cloud data to register the first point cloud data" is refined into "dividing the first point cloud data into at least two groups; for the points in each group Cloud data, using the initial pose information of the corresponding point cloud data for parallel registration".

[0118] Further, the operation "using the registration parameters of adjacent point cloud data in the second point cloud data to register the second point cloud data" is refined to "according to the initial pose information of each frame of point cloud data, select It is adjacent to the edge point cloud data of the second point cloud data, and the initial pose i...

Embodiment 3

[0142] image 3 It is a flow chart of a method for updating point cloud data in Embodiment 3 of the present application, and this method is applicable to the case of updating registered point cloud data. The method is executed by an updating device for point cloud data, which is implemented by software and / or hardware, and is specifically configured in electronic equipment with certain data computing capabilities. The electronic equipment may be integrated in the collection vehicle, or be independent from and communicated with the collection vehicle. For the description of the collection vehicle, refer to the above-mentioned embodiments for details, and no further description is given here.

[0143] Such as image 3 A method for updating point cloud data is shown, including:

[0144] S301. Acquire the registered point cloud data in the target area, the point cloud data to be updated, and the initial pose information of the point cloud data to be updated.

[0145] Collect m...

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Abstract

The invention discloses a point cloud data registration and updating method and device, equipment and a storage medium, relates to the technical field of high-precision maps, and can be used for automatic driving. According to the specific implementation scheme, the method comprises the steps of collecting multiple frames of point cloud data of a target area and initial pose information of each frame of point cloud data; performing registration operation on adjacent point cloud data in the multiple frames of point cloud data to obtain registration parameters of the adjacent point cloud data; adopting the registration parameters of the adjacent point cloud data in the multiple frames of point cloud data to evaluate the credibility of the initial pose information of each frame of point clouddata in the adjacent point cloud data; and registering each frame of point cloud data in a manner of matching the credibility of the initial pose information of each frame of point cloud data. According to the embodiment, the registration efficiency can be improved, the registration precision is improved on the whole, and the registration quality is comprehensively improved.

Description

technical field [0001] This application relates to computer technology, especially to the field of high-precision map technology. Background technique [0002] High-precision electronic map, that is, high-precision map is a high-precision, finely defined map, which is an indispensable part of current driverless vehicle technology. [0003] The production process of high-precision maps generally includes: using lidar to collect multi-frame point cloud data of the target area; registering the position and attitude (referred to as pose) of each frame of point cloud data to obtain the actual pose of the point cloud data, And stitch together the point cloud data of each frame according to the actual pose. In the process of splicing point cloud data, it is necessary to use a complex registration algorithm to register each frame of point cloud data, and minimize the global loss function given by the registration algorithm to obtain a global registration result. . [0004] Due to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30G06T7/70
CPCG06T7/30G06T7/70G06T2207/10028G06T2207/30181
Inventor 黄杰蔡仁澜袁鹏飞宋适宇
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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