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Obstacle detection processing method, device and system

A technology of processing device and processing method, which is applied in the field of sensor processing, can solve the problems of point loss, resolution not as high as that of the camera, and point cloud not dense enough, so as to achieve the effect of integrity assurance and improvement of effectiveness

Pending Publication Date: 2022-01-11
GUANGDONG HUITIAN AEROSPACE TECH CO LTD
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Problems solved by technology

Among them, the resolution of the camera is high, but there is no depth information of the obstacle; the lidar can obtain the three-dimensional information of the obstacle, but the resolution is not as high as that of the camera. In addition, the point cloud is not dense enough or partially point loss etc.
[0004] However, in related technologies, the data obtained by the lidar and the camera to detect obstacles are insufficient, especially when encountering large obstacles, it is difficult to detect the outline of the obstacle, and it is impossible to obtain accurate obstacle information.

Method used

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Embodiment Construction

[0044] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0045] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible ...

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Abstract

The invention relates to an obstacle detection processing method, device and system. The obstacle detection processing method comprises the following steps: acquiring initial point cloud data detected by a radar and initial image data detected by a camera; performing clustering processing on the initial point cloud data to obtain obstacle point cloud data to be supplemented; converting the to-be-supplemented obstacle point cloud data into to-be-supplemented obstacle image data; matching the to-be-supplemented obstacle image data with the initial image data to obtain complete obstacle image data; and converting the complete obstacle image data into complete obstacle point cloud data, and determining an obstacle contour according to the complete obstacle point cloud data. According to the scheme provided by the invention, the contour of the obstacle can be detected more accurately.

Description

technical field [0001] The present application relates to the technical field of sensor processing, and in particular to an obstacle detection and processing method, device and system. Background technique [0002] Currently, sensors are used to detect obstacles in areas such as aircraft or automobiles. Among them, monocular cameras and lidars can be used for detection. [0003] Traditional monocular cameras and lidars are mainly used to detect small obstacles. Path planning only needs to know the relative pose of the obstacle and the vehicle body or aircraft, and does not need to obtain the contour information of the obstacle. In related technologies, the laser radar and the camera are generally calibrated first, and then the laser radar and the camera are allowed to obtain obstacle information at the same time. Among them, the resolution of the camera is high, but there is no depth information of the obstacle; the lidar can obtain the three-dimensional information of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/58G06V10/80G01S13/86G01S13/931G01S13/933G01S7/41
CPCG01S13/867G01S13/931G01S13/933G01S7/41G06F18/25
Inventor 赵德力郭均浩姚绍威陈君毅谷靖陶永康
Owner GUANGDONG HUITIAN AEROSPACE TECH CO LTD
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