Mapping method and device based on double multi-line radars

Abstract

The invention discloses a mapping method and device based on double multi-line radars, and relates to the technical field of computers. A specific embodiment of the method comprises the steps of processing point cloud data of two radars to establish a first pose constraint, wherein the first pose constraint comprises a pose constraint of adjacent point cloud data frames of the same radar and a closed-loop pose constraint of the same radar; establishing a second pose constraint according to the pose and the installation relation between the radars, the second pose constraint comprising pose constraints of adjacent point cloud data frames of different radars, and the adjacent point cloud data frames being two point cloud data frames with the closest time interval; and updating the poses of the point cloud data of the two radars according to the first pose constraint and the second pose constraint, and generating a point cloud map according to the updated poses. According to the embodiment, the data of the two radars can be used for simultaneous mapping, the blind area influence is reduced, and map details which cannot be seen by a single radar are complemented; and as the constraints are increased, the precision of the map is greatly improved.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a mapping method and device based on dual multi-line radar. Background technique [0002] At present, unmanned vehicles are generally equipped with two or more multi-line radars at the same time based on the consideration of reducing blind spots. However, when building a map based on multi-line radar , often only using data from one of the radars. [0003] In the course of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0004] Using the data of a single multi-line radar to construct a map is simple in algorithm, but the existence of radar blind spots will inevitably cause the loss of some details of the point cloud map. If a single radar blind zone is too large, the accuracy of the generated point cloud map may also be affected. Contents of the invention [0005] In view of this, the embodiments of the ...

AI Technical Summary

Problems solved by technology

[0004] Using the data of a single multi-line radar to construct a map, although the algorithm is simple to implement, the existence of radar blind spots will inevitably cause the loss of some details of the point cloud map

If a single radar blind zone is too large, the accuracy of the generated point cloud map may also be affected

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