Single-line point cloud and multi-line point cloud registration method and device

Abstract

The invention provides a single-line point cloud and multi-line point cloud registration method and device, and the method comprises the steps: enabling a single-line point cloud and a multi-line point cloud to be converted to the same coordinate axis, and carrying out the uniform re-sampling of point clouds in a point cloud space through voxels with a preset size; dividing space grids, counting the number of point clouds in each grid, filtering the grids of which the number of the point clouds is lower than a preset threshold value, counting z value distribution of the point clouds in the remaining grids, marking the grids in the threshold value range as the ground, and marking the remaining grids as non-ground points; for point clouds marked as non-ground point clouds, taking all point clouds of an adjacent region of each point cloud, solving a corresponding covariance matrix for a matrix formed by the point clouds, carrying out feature decomposition on the covariance matrix, and filtering out irregular object point clouds based on a proportional relation between feature values; registering the regular object point clouds by adopting an NDT algorithm, and iterating translation amounts of the point clouds in three directions. Optimal registration of the single-line point cloud and the multi-line point cloud is realized, the registration efficiency is high, and the registrationresult is accurate and reliable.

Description

technical field [0001] The invention relates to the field of point cloud data processing, in particular to a method and device for registering a single-line point cloud and a multi-line point cloud. Background technique [0002] In the field of automatic driving, high-precision map data can be used as a reference standard for automatic driving, which is of great significance for the development of automatic driving functions. In addition to the traditional road topology, the high-precision map also contains many ground features, such as guardrails, roadsides, poles, signs, etc., and the use of laser sensors often cannot take into account the collection of all ground features. Therefore, many data acquisition systems often use multiple Sensors, such as multiple cameras, single-line and multi-line laser sensors collect data simultaneously. Due to the different installation positions of multiple sensors, in actual use, due to various factors such as vibration, the sensors tend...

AI Technical Summary

Problems solved by technology

[0003] In view of this, an embodiment of the present invention provides a method and device for registration of a single-line point cloud and a multi-line point cloud to solve the problems of slow registration speed and inaccurate registration results of existing registration methods

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