Multi-laser radar autonomous networking system based on adaptive registration,method and terminal

Abstract

The invention discloses a multi-laser radar autonomous networking system based on adaptive registration, a method and a terminal, and relates to the technical field of network construction and network information processing. A plurality of laser radars are adopted to carry out registration and fusion on point cloud images of different radars by using a point cloud registration algorithm, and point cloud registration adopts 4PCS to carry out coarse registration and Trimmed ICP to carry out fine registration, so that the laser radars in the same indoor environment automatically establish a radar network, and a fused indoor environment point cloud is obtained. Data are stored locally and in the cloud simultaneously, and a user changes corresponding registration parameters or obtains original point cloud data through the cloud. The invention relates to the multi-laser radar autonomous networking system based on adaptive registration, which is designed for home-based care projects. A user can remotely check the condition of the laser radar network in the living room of the old and the point cloud image of the indoor environment. Through the radar network and environment point cloud data, the user can use the method in further design and use of home-based care projects.

Description

technical field [0001] The invention belongs to the technical field of network construction and network information processing, and in particular relates to a multi-laser radar autonomous network construction system and method based on adaptive registration, a program storage medium for receiving user input, and an information data processing terminal. Background technique [0002] At present, lidar has developed rapidly since the 1990s. Lidar itself obtains information such as environmental coordinates by emitting laser light. Due to the characteristics of laser light itself, it is not easily affected by the external environment, and it can operate normally at night with high reliability. Therefore, it has been widely used in various fields. Around 1960, 2D point cloud registration technology was first used. Later, with the development of technology and equipment and the deepening of inventions, 3D point cloud registration was gradually applied. [0003] At present, 2D po...

AI Technical Summary

Problems solved by technology

In 2015, Han Baochang et al. proposed a point cloud automatic registration method based on region growth to solve the problem that the point cloud data with low overlap rate cannot be effectively processed in the point cloud global registration.

[0006] (1) The registration and fusion of multiple laser radars has always been a hot topic of invention, but most of the inventions mostly pre-set the key points as calibration parameters, or set the relative position of the laser radar, and add manual operation for registration and fusion

Manual intervention registration fusion can achieve a good registration accuracy, but in some cases, multi-lidar automatic registration fusion is required

However, the automatic registration and fusion effect of the existing technology is poor

[0007] (2) The existing technology is poor in the accuracy of the information obtained by remotely viewing the lidar network situation in the living room of the elderly and the point cloud image of the indoor environment

[0008] (3) The existing technology is poor in preserving the privacy information of users

[0009] (4) Poor integrity and reliability of existing technical data

[0015] At present, there are still many aspects to be improved in the point cloud registration algorithm, and there are still many difficulties

For example, how to set the parameters of point cloud registration in an unknown environment; under low overlap, the image calibration and registration accuracy of different lidars is low; the initial pose of the point cloud has a great influence on the accuracy and effect of point cloud registration Impact

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