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Point cloud speed measurement method based on improved ICP

A point cloud and speed measurement technology, applied in the field of navigation, can solve the problem of large error in the common ICP method, and achieve the effect of reducing the impact and accurate registration results.

Active Publication Date: 2021-11-26
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, ICP (Iterative Closest Point) has more important significance in the traditional point cloud registration method, but the common ICP method has the problem of introducing too much error, so the common ICP method has been improved

Method used

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  • Point cloud speed measurement method based on improved ICP
  • Point cloud speed measurement method based on improved ICP
  • Point cloud speed measurement method based on improved ICP

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0092] Embodiment 1: 3D point cloud preprocessing steps

[0093] Suppose k is in the carrier coordinate system L at time k k The following frame of 3D point cloud data collected is in Indicates the i-th point in the point cloud data, Respectively represent the i-th point in the point cloud data in the carrier coordinate system L k the coordinates below;

[0094] exist , calculate the nearest m points from each point and the distance from the point to the nearest m points by the kd-tree algorithm;

[0095] for the ith point The nearest m points and points The distance between them is: d i1 , d i2 ,...,d im ;

[0096] Calculate the average d of these m distances i-average , can be called d i-average is the local average distance;

[0097] In the same way, it is also possible to find the point The local average distance d of m neighboring points of i1-average , d i2-average ,...,d im-average . from d i1-average , d i2-average ,...,d im-average Choose ...

Embodiment 2

[0100] Embodiment 2: Matching of 3D point cloud

[0101] Use the odometry or RANSAC method to obtain the vehicle coordinate system L k The initial estimated pose T in the world system W k-start ;

[0102] Let the previous sampling time of the point cloud sampling time k be o;

[0103] The collected point cloud data is recorded as

[0104] The preprocessed point cloud data is recorded as

[0105] The carrier coordinate system corresponding to time o is L o ;

[0106] The pose of the carrier in the world system is T o ;

[0107] Using the improved ICP method to with processing to get the optimized T k-start , denoted as T k .

Embodiment 3

[0108] Embodiment 3: Improved ICP

[0109] Use the odometry or RANSAC method to obtain the vehicle coordinate system L k The initial estimated pose T in the world system W k-start ;

[0110] Let the previous sampling time of the point cloud sampling time k be o;

[0111] The collected point cloud data is recorded as

[0112] The preprocessed point cloud data is recorded as

[0113] The carrier coordinate system corresponding to time o is L o ;

[0114] The pose of the carrier in the world system is T o ;

[0115] Use T k-start and T o Will Transformed to the world coordinate system W, the corresponding point cloud data is expressed as

[0116] from Select points on the plane;

[0117] Use the method of non-maximum suppression to make the selected points evenly distributed;

[0118]The obtained standard point set is denoted as

[0119] exist Search operations in , for any point p in j ,exist Find the distance p in j nearest λ points;

[0120] T...

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Abstract

The invention discloses a point cloud speed measurement method based on an improved ICP, and the method comprises the steps of point cloud pre-processing: removing the noise points in the point cloud data, and removing the dynamic objects in the point cloud data through clustering and detection means; point cloud matching: obtaining the pose of a carrier when the current frame of point cloud is collected, and further optimizing the pose of the carrier corresponding to the current frame of point cloud by using an improved ICP method and on the basis of the pose; local graph optimization: carrying out local graph optimization on all poses in a given time interval including the latest calculated pose; and speed calculation: representing the pose change experienced by the carrier by using an angular axis method, and then calculating the current speed of the carrier. According to a three-dimensional point cloud pre-processing method, the outliers and burr points in the initial point cloud data can be removed, and the influence of noise points on the subsequent matching step is greatly reduced; a small-area plane is projected to a large-area plane, so that the projection effect is greatly close to the real situation, and a registration result is more accurate.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a point cloud speed measurement method based on an improved ICP. Background technique [0002] With the rapid development of sensor technology such as lidar, the application of point cloud data in the fields of mapping, navigation and obstacle avoidance has become one of the research hotspots, and if point cloud data is used to measure the speed of the carrier, then it can be more Make full use of point cloud information. For a carrier that only has a sensor that collects point cloud information, using point cloud data to measure the speed of the carrier can be said to be the only means of speed measurement. At the same time, in state estimation, it is beneficial for the navigation system to better estimate the estimated state by providing more information. In addition, ICP (Iterative Closest Point) has more important significance in the traditional point cloud r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48G01S17/58G06T17/20
CPCG01S7/4802G01S17/58G06T17/20Y02T10/40
Inventor 杜雪闫泽博胡俊生管凤旭孙岩张勋陈涛郑岩
Owner HARBIN ENG UNIV
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