CN115575965A - Laser radar multi-echo discrimination method and device - Google Patents
Laser radar multi-echo discrimination method and deviceDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及雷达测距技术领域，具体涉及一种激光雷达多回波判别方法和装置。The invention relates to the technical field of radar ranging, in particular to a laser radar multi-echo discrimination method and device.
背景技术Background technique
激光雷达系统依据激光脉冲飞行时间的原理进行测距测量。在测距过程中需要将每个接收到的回波脉冲与其诱发发射的激光脉冲进行关联，这一先决条件导致激光雷达(LiDAR)测距具有测距(RG)限制，即要求脉冲发射和接收时间要小于脉冲重复频率(PRR)，才可以准确测定脉冲发射位置到目标的距离。如果脉冲的往返时间超过了脉冲发射重复频率，即返回的信号和先前的脉冲信号无法对应，则会引起测距模糊，这限制了高测量率的测距器和激光雷达的可用性。LiDAR systems perform ranging measurements based on the principle of time-of-flight of laser pulses. The prerequisite for the ranging process to correlate each received echo pulse with its evoked emitted laser pulse leads to LiDAR ranging with a ranging (RG) limitation, which requires pulse emission and reception The time must be less than the pulse repetition rate (PRR) to accurately measure the distance from the pulse emission position to the target. If the round-trip time of the pulse exceeds the pulse emission repetition rate, that is, the returning signal does not correspond to the previous pulse signal, it will cause ranging ambiguity, which limits the usability of high measurement rate rangefinders and LiDAR.
在实际生产工程中，一般通过控制无人机飞行高度和调节激光脉冲发射频率来避免测距模糊问题。如果点云中出现测距模糊，也一般将明显高于或低于地面的点视为噪声进行去除。这种方法带来了激光点云数据的信息损失，导致激光点云数据的利用率大大降低，限制了机载LiDAR的采样能力，而且在需要达到同样高密度点云和更宽的扫描航带时飞机飞行的航带数和次数都要增加。In actual production engineering, the distance measurement ambiguity problem is generally avoided by controlling the flying height of the UAV and adjusting the laser pulse emission frequency. If there is ranging blur in the point cloud, the points that are obviously higher or lower than the ground are generally regarded as noise for removal. This method brings information loss of laser point cloud data, which greatly reduces the utilization rate of laser point cloud data, limits the sampling capability of airborne LiDAR, and needs to achieve the same high-density point cloud and wider scanning lane At the same time, the number and frequency of flight strips of the aircraft will increase.
当前避免激光雷达测距模糊问题的方式主要可分为三种：硬件解决方式，软件解决方式以及软硬件相结合的方式。基于硬件的解决方式主要有空间复用和波长复用。空间复用主要是通过将至少两个类似的激光发射接收装置叠加到一个完整的激光扫描系统平台。该方案需同时操作两个激光扫描装置，同时保持每个单一装置的最大明确距离，并且要求两种仪器的视场(FOV)有足够大的空间分离以避免相互间的干扰。波长复用主要是使两个或多个激光扫描仪在不同的波长下工作以避免干扰造成的问题。由于研发能够发射和在多个波长上接收激光脉冲的单一仪器所需的技术复杂性，以及在操作期间选择不同波长方面缺乏灵活性，当前应用的方法是选用两个或两个以上特定波长的独立仪器。At present, there are three main ways to avoid the ambiguity problem of lidar ranging: hardware solutions, software solutions, and a combination of software and hardware. Hardware-based solutions mainly include spatial multiplexing and wavelength multiplexing. Spatial multiplexing is mainly by superimposing at least two similar laser emitting and receiving devices into a complete laser scanning system platform. This solution requires simultaneous operation of two laser scanning devices while maintaining a maximum unambiguous distance from each single device, and requires that the fields of view (FOV) of the two instruments be sufficiently separated in space to avoid mutual interference. Wavelength multiplexing is mainly to make two or more laser scanners work at different wavelengths to avoid problems caused by interference. Due to the technical complexity required to develop a single instrument capable of emitting and receiving laser pulses at multiple wavelengths, and the lack of flexibility in selecting different wavelengths during operation, the currently applied method is to select two or more specific wavelengths stand-alone instrument.
基于硬件的解决方案并不能完全解决模糊测量问题，而基于软件的方法可以克服这一问题。基于软件的方法主要通过利用测量物体的表面连续性的假设和变周期测量技术。该方法通过邻域划分找到相邻激光点，然后对相邻点计算在不同脉冲收发周期的统计权值得到真实脉冲收发区间，进而对激光点进行修正。为了正确关联所有连续的测量值，需要选择一个正确的初始收发周期区域。软件算法方式常常由于商业壁垒都没有公开解决测距模糊的具体细节，或者只能用于单个厂商数据中，导致解决方案通用性差。Hardware-based solutions cannot completely solve the problem of ambiguous measurement, but software-based methods can overcome this problem. The software-based method mainly utilizes the assumption of the surface continuity of the measurement object and the variable period measurement technique. This method finds adjacent laser points through neighborhood division, and then calculates the statistical weights of adjacent points in different pulse transmission and reception periods to obtain the real pulse transmission and reception interval, and then corrects the laser points. In order to correctly correlate all consecutive measurements, it is necessary to select a correct initial transmit and receive cycle area. The software algorithm method often does not disclose the specific details of the ranging ambiguity due to commercial barriers, or can only be used in the data of a single manufacturer, resulting in poor versatility of the solution.
发明内容Contents of the invention
本发明提供一种激光雷达多回波判别方法和装置，以解决激光雷达测距过程中激光雷达脉冲的返回信号和发射的脉冲信号无法对应，导致的测距模糊问题。The invention provides a laser radar multi-echo discrimination method and device to solve the problem of fuzzy distance measurement caused by the incompatibility between the returned signal of the laser radar pulse and the emitted pulse signal during the laser radar ranging process.
本发明解决上述技术问题的技术方案如下：The technical scheme that the present invention solves the problems of the technologies described above is as follows:
第一方面，本发明提供一种激光雷达多回波判别方法，包括：In a first aspect, the present invention provides a laser radar multi-echo discrimination method, comprising:
获取Ti及Ti+1时刻相机拍摄的图像Ii和Ii+1，并获取Ti时刻之后的至少一个周期内接收的激光雷达回波脉冲；其中i为正整数；T1时刻激光雷达首次发射脉冲；所述周期为激光雷达的脉冲发射周期；Obtain the images Ii and Ii+1 captured by the camera at Ti and Ti +1, and obtain the lidar echo pulses received in at leastone period after Ti ; where i is a positive integer; The radar emits pulses for the first time; the period is the pulse emission period of the lidar;
根据激光雷达回波脉冲以及Ti时刻的激光雷达发射脉冲解算回波脉冲对应的目标点的位置坐标P；Calculate the position coordinates P of the target point corresponding to the echo pulse according to the laser radar echo pulse and the laser radar emission pulse at Ti time;
利用相机成像模型，根据目标点的位置坐标P计算其投影到Ii上的图像坐标Mi以及其投影到Ii+1上的图像坐标Mi+1；Using the camera imaging model, calculate the image coordinate Mi projected onto Ii and the image coordinate Mi+1 projected onto Ii+1 according to the position coordinate P of the target point;
计算图像坐标Mi和图像坐标Mi+1的相似度，若相似度高于预设阈值，则将目标点对应的雷达回波与Ti时刻的激光雷达发射脉冲匹配，否则将目标点对应的雷达回波与Ti-1时刻的激光雷达发射脉冲匹配。Calculate the similarity between image coordinates Mi and image coordinates Mi+1 , if the similarity is higher than the preset threshold, match the radar echo corresponding to the target point with the laser radar emission pulse at Ti time, otherwise match the target point corresponding to The radar echo at Ti-1 matches the LiDAR emission pulse at time T i-1.
进一步的，当获取激光雷达回波脉冲的周期数大于一个周期时，则在下一迭代过程获取的激光雷达回波脉冲中删除已匹配过的激光雷达回波脉冲。Further, when the number of cycles for obtaining the lidar echo pulses is greater than one cycle, the matched lidar echo pulses are deleted from the lidar echo pulses acquired in the next iterative process.
进一步的，所述获取激光雷达回波脉冲的周期数的上限根据激光雷达系统硬件参数确定。Further, the upper limit of the cycle number for obtaining the laser radar echo pulse is determined according to the hardware parameters of the laser radar system.
进一步的，所述的计算图像坐标Mi和图像坐标Mi+1的相似度，包括：Further, the calculation of the similarity between the image coordinates Mi and the image coordinates Mi+1 includes:
在图像Ii上获取图像坐标Mi的邻域像素，在图像Ii+1上获取图像坐标Mi+1的邻域像素；Obtain the neighborhood pixels of the image coordinates Mi on the image Ii , and obtain the neighborhood pixels of the image coordinates Mi+1 on the image I i+1 ;
根据图像坐标Mi的邻域像素计算其对应的局部纹理特征Fi；根据图像坐标Mi+1的邻域像素计算其对应的局部纹理特征Fi+1；Calculate the corresponding local texture feature Fi according to the neighborhood pixels of the image coordinate Mi ; calculate the corresponding local texture feature F i+1 according to the neighborhood pixels of the image coordinate Mi+1 ;
利用相关系数度量局部纹理特征Fi和Fi+1的相似度。The correlation coefficient is used to measure the similarity of local texture features Fi and Fi+1 .
第二方面，本发明提供一种激光雷达多回波判别装置，包括：In a second aspect, the present invention provides a laser radar multi-echo discrimination device, comprising:
数据获取模块，获取Ti及Ti+1时刻相机拍摄的图像Ii和Ii+1，并获取Ti时刻之后的至少一个周期内接收的激光雷达回波脉冲；其中i为正整数；T1时刻激光雷达首次发射脉冲；所述周期为激光雷达的脉冲发射周期；The data acquisition module acquires the images Ii and Ii+1 captured by the camera at Ti and Ti+1 moments, and acquires the lidar echo pulses received in at least one period after the Ti moment; wherein i is a positive integer; The laser radar emits pulses for thefirst time at T1 moment; the cycle is the pulse emission cycle of the laser radar;
坐标解算模块，根据激光雷达回波脉冲以及Ti时刻的激光雷达发射脉冲解算回波脉冲对应的目标点的位置坐标P；The coordinate calculation module calculates the position coordinates P of the target point corresponding to the echo pulse according to the laser radar echo pulse and the laser radar emission pulse at the Ti moment;
投影计算模块，利用相机成像模型，根据目标点的位置坐标P计算其投影到Ii上的图像坐标Mi以及其投影到Ii+1上的图像坐标Mi+1；The projection calculation module uses the camera imaging model to calculate the image coordinate Mi projected onto Ii and the image coordinate Mi+1 projected onto Ii+1 according to the position coordinate P of the target point;
匹配模块，计算图像坐标Mi和图像坐标Mi+1的相似度，若相似度高于预设阈值，则将目标点对应的雷达回波与Ti时刻的激光雷达发射脉冲匹配，否则将目标点对应的雷达回波与Ti-1时刻的激光雷达发射脉冲匹配。The matching module calculates the similarity between the image coordinates Mi and the image coordinates Mi+1 , if the similarity is higher than the preset threshold, the radar echo corresponding to the target point is matched with the laser radar emission pulse at Ti time, otherwise the The radar echo corresponding to the target point matches the laser radar emission pulse at Ti-1 time.
进一步的，当获取激光雷达回波脉冲的周期数大于一个周期时，则在下一迭代过程获取的激光雷达回波脉冲中删除已匹配过的激光雷达回波脉冲。Further, when the number of cycles for obtaining the lidar echo pulses is greater than one cycle, the matched lidar echo pulses are deleted from the lidar echo pulses acquired in the next iterative process.
进一步的，所述获取激光雷达回波脉冲的周期数的上限根据激光雷达系统硬件参数确定。Further, the upper limit of the cycle number for obtaining the laser radar echo pulse is determined according to the hardware parameters of the laser radar system.
进一步的，所述匹配模块，包括：相似度计算模块，所述相似度模块具体用于：Further, the matching module includes: a similarity calculation module, and the similarity module is specifically used for:
在图像Ii上获取图像坐标Mi的邻域像素，在图像Ii+1上获取图像坐标Mi+1的邻域像素；Obtain the neighborhood pixels of the image coordinates Mi on the image Ii , and obtain the neighborhood pixels of the image coordinates Mi+1 on the image I i+1 ;
根据图像坐标Mi的邻域像素计算其对应的局部纹理特征Fi；根据图像坐标Mi+1的邻域像素计算其对应的局部纹理特征Fi+1；Calculate the corresponding local texture feature Fi according to the neighborhood pixels of the image coordinate Mi ; calculate the corresponding local texture feature F i+1 according to the neighborhood pixels of the image coordinate Mi+1 ;
利用相关系数度量局部纹理特征Fi和Fi+1的相似度。The correlation coefficient is used to measure the similarity of local texture features Fi and Fi+1 .
第三方面，本发明提供一种电子设备，包括：In a third aspect, the present invention provides an electronic device, comprising:
存储器，用于存储计算机软件程序；memory for storing computer software programs;
处理器，用于读取并执行所述计算机软件程序，进而实现本发明第一方面所述的一种激光雷达多回波判别方法。The processor is configured to read and execute the computer software program, so as to realize the multi-echo discrimination method of lidar according to the first aspect of the present invention.
第四方面，本发明提供一种非暂态计算机可读存储介质，所述存储介质中存储有用于实现本发明第一方面所述的一种激光雷达多回波判别方法的计算机软件程序。In a fourth aspect, the present invention provides a non-transitory computer-readable storage medium, which stores a computer software program for implementing the laser radar multi-echo discrimination method described in the first aspect of the present invention.
本发明的有益效果是：本发明借助相机模块，能有效解决激光雷达脉冲返回信号与发射信号间的对应关系，解决测距模糊问题。The beneficial effects of the present invention are: the present invention can effectively solve the corresponding relationship between the laser radar pulse return signal and the transmitted signal by means of the camera module, and solve the problem of distance measurement ambiguity.
本方法仅需在LiDAR系统基础上搭载相机即可解决雷达脉冲测距模糊问题，经济性高，适用范围更加广泛；相机系统不需与LiDAR系统作标定，仅需对相机本身作标定，系统简单，稳定性高。This method only needs to install a camera on the basis of the LiDAR system to solve the radar pulse ranging ambiguity problem, which is economical and has a wider application range; the camera system does not need to be calibrated with the LiDAR system, only the camera itself needs to be calibrated, and the system is simple , high stability.
附图说明Description of drawings
图1为不存在歧义的发射脉冲和接收回波波形图示例；Figure 1 is an example of unambiguous transmitted pulse and received echo waveform diagrams;
图2为存在歧义的发射脉冲和接收回波波形图示例；Figure 2 is an example of ambiguous transmit pulse and receive echo waveform diagrams;
图3为本发明实施例提供的一种激光雷达多回波判别方法流程示意图；Fig. 3 is a schematic flow chart of a laser radar multi-echo discrimination method provided by an embodiment of the present invention;
图4为本发明实施例中脉冲发射和回波发射和接收时刻示意图；Fig. 4 is a schematic diagram of pulse transmission and echo transmission and reception moments in an embodiment of the present invention;
图5为本发明实施例中激光脉冲解歧义原理示意图；Fig. 5 is a schematic diagram of the principle of laser pulse disambiguation in an embodiment of the present invention;
图6本发明实施例提供的一种激光雷达多回波判别装置结构示意图；FIG. 6 is a structural schematic diagram of a laser radar multi-echo discrimination device provided by an embodiment of the present invention;
图7为本发明实施例提供的电子设备的实施例示意图；FIG. 7 is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention;
图8为本发明实施例提供的一种计算机可读存储介质的实施例示意图。Fig. 8 is a schematic diagram of an embodiment of a computer-readable storage medium provided by an embodiment of the present invention.
具体实施方式detailed description
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
激光雷达通过周期性地发射激光和接收回波，即可根据光飞行参数得到一系列测量点距离，结合激光自身的位置和姿态即可计算出反射点的位置。通常情况下，激光的发送和接收是按顺序进行的，即发送-接收-发送-接收，空中始终只有一个激光脉冲，接收和发送是一一匹配的。如果测量物体比较远，空中就可能出现多个脉冲，多个脉冲到达接收器的顺序不再和脉冲发射的顺序一致，接收器无法正确计算脉冲的飞行时间，从而不能正确的得出物体的测距，即MTA(Multi-Time-Around)问题，通常将反射信号可能跨过的收发周期数称为MTA区间。如图1表示发射脉冲和接收回波是一一匹配的，不存在测距模糊，距离歧义的范围区间，图2表示发射脉冲和接收回波不再对应，存在测距歧义范围区间。By periodically emitting laser light and receiving echoes, the laser radar can obtain a series of measurement point distances according to the light flight parameters, and calculate the position of the reflection point by combining the position and attitude of the laser itself. Normally, the sending and receiving of the laser is carried out in sequence, that is, sending-receiving-sending-receiving, there is always only one laser pulse in the air, and the receiving and sending are matched one by one. If the measured object is far away, multiple pulses may appear in the air, and the order in which the multiple pulses arrive at the receiver is no longer consistent with the order in which the pulses are emitted. The distance, that is, the MTA (Multi-Time-Around) problem, usually the number of sending and receiving cycles that the reflected signal may span is called the MTA interval. As shown in Figure 1, the transmitted pulse and the received echo are matched one by one, and there is no ranging ambiguity and range interval of distance ambiguity.
本发明实施例提供一种激光雷达多回波判别方法，通过LiDAR系统同步的相机设备获取激光雷达回波时刻的图像信息，由于只是激光雷达回波时刻与激光脉冲发射时刻对应关系未知，但其必定在指定周期内，通过假定每一回波与发射脉冲对应，记录每一回波假定测距值，在该发射脉冲时刻所同步获取的图像信息中必然存有假定测距值处的图像信息。当载体移动一定距离后在另一位置相机同样会获取一幅图像，通过比对两幅图像两点处的相似性从而确定激光回波与发射脉冲间的对应关系。The embodiment of the present invention provides a laser radar multi-echo discrimination method. The image information at the time of the laser radar echo is obtained through the camera equipment synchronized with the LiDAR system. Since only the corresponding relationship between the laser radar echo time and the laser pulse emission time is unknown, but its It must be within the specified period, by assuming that each echo corresponds to the transmitted pulse, and record the assumed ranging value of each echo, and the image information at the assumed ranging value must exist in the image information synchronously acquired at the time of the transmitted pulse . When the carrier moves a certain distance, the camera will also acquire an image at another position, and the corresponding relationship between the laser echo and the emission pulse can be determined by comparing the similarity at two points of the two images.
具体的，如图3所示，本发明实施例提供的一种激光雷达多回波判别方法，包括以下步骤：Specifically, as shown in FIG. 3 , a laser radar multi-echo discrimination method provided by an embodiment of the present invention includes the following steps:
获取Ti及Ti+1时刻相机拍摄的图像Ii和Ii+1，并获取Ti时刻之后的至少一个周期内接收的激光雷达回波脉冲；其中i为正整数；T1时刻激光雷达首次发射脉冲；所述周期为激光雷达的脉冲发射周期；Obtain the images Ii and Ii+1 captured by the camera at Ti and Ti +1, and obtain the lidar echo pulses received in at leastone period after Ti ; where i is a positive integer; The radar emits pulses for the first time; the period is the pulse emission period of the lidar;
根据激光雷达回波脉冲以及Ti时刻的激光雷达发射脉冲解算回波脉冲对应的目标点的位置坐标P；Calculate the position coordinates P of the target point corresponding to the echo pulse according to the laser radar echo pulse and the laser radar emission pulse at Ti time;
利用相机成像模型，根据目标点的位置坐标P计算其投影到Ii上的图像坐标Mi以及其投影到Ii+1上的图像坐标Mi+1；Using the camera imaging model, calculate the image coordinate Mi projected onto Ii and the image coordinate Mi+1 projected onto Ii+1 according to the position coordinate P of the target point;
计算图像坐标Mi和图像坐标Mi+1的相似度，若相似度高于预设阈值，则将目标点对应的雷达回波与Ti时刻的激光雷达发射脉冲匹配，否则将目标点对应的雷达回波与Ti-1时刻的激光雷达发射脉冲匹配。Calculate the similarity between image coordinates Mi and image coordinates Mi+1 , if the similarity is higher than the preset threshold, match the radar echo corresponding to the target point with the laser radar emission pulse at Ti time, otherwise match the target point corresponding to The radar echo at Ti-1 matches the LiDAR emission pulse at time T i-1.
现代激光雷达系统同时具有GPS，IMU等获取POS数据，如果能利用每个激光脉冲的POS(Position and Orientation System，定位定姿系统)数据中包含的位置和方向信息来重建激光传输时的三维空间场景，在指定方向和速度下能够建立发射的激光脉冲数学模型，结合相机成像模型，将激光回波处物体投射到图像中，在不同位置相机所拍摄的图像中计算回波处图像间相似性从而确定回波脉冲与发射脉冲间的对应关系，从而解决测距模糊问题。Modern laser radar systems also have GPS, IMU, etc. to obtain POS data. If the position and direction information contained in the POS (Position and Orientation System) data of each laser pulse can be used to reconstruct the three-dimensional space during laser transmission In the scene, the mathematical model of the emitted laser pulse can be established under the specified direction and speed, combined with the camera imaging model, the object at the laser echo is projected into the image, and the similarity between the images at the echo is calculated in the images taken by the camera at different positions Therefore, the corresponding relationship between the echo pulse and the transmitted pulse is determined, thereby solving the fuzzy problem of ranging.
假设T1时刻激光雷达发射激光脉冲，同时触发相机拍照，获取图像为I1，激光脉冲在遇到地面不同层次物体产生三次回波，收到回波时刻依次是t11，t12，t13。激光雷达在脉冲间隔ΔT后，T2时刻激光雷达发射激光脉冲，相机获取图像为I2，激光脉冲在遇到地面不同层次物体后同样产生三次回波，收到回波时刻依次是t21，t22，t23。在脉冲间隔ΔT后，激光雷达发射脉冲T3同时获取图像为I3。激光雷达时刻如图4所示。Assuming that the laser radar emits laser pulses at time T1 and triggers the camera to take pictures at the same time, the acquired image is I1 , the laser pulse generates three echoes when it encounters objects at different levels on the ground, and the echoes are received at t11 , t12 , t13 in sequence . After the pulse interval ΔT of the laser radar, the laser radar emits a laser pulse at T2 , and the image acquired by the camera is I2 , and the laser pulse also generates three echoes after encountering objects at different levels on the ground, and the time of receiving the echoes is t21 in turn, t22 , t23 . After the pulse interval ΔT, the lidar emits a pulse T3 and simultaneously acquires an image I3 . The lidar moment is shown in Figure 4.
LiDAR系统能通过激光脉冲回波时刻与激光脉冲发射时刻的时间差解算出脉冲反射处到雷达的距离。如图4所示在T2时刻到T3时刻雷达脉冲周期中有三个雷达回波，其中回波t13所对应的雷达发射脉冲时刻为T1。首先假设在T2周期中所接收的回波t13，t21，t22均与发射脉冲T2相对应，据此通过雷达系统解算出回波t13，t21，t22所对应反射处物体位置P13(x13,y13,z13)，P21(x21,y21,z21)，P22(x22,y22,z22)如图5所示。The LiDAR system can calculate the distance from the pulse reflection to the radar through the time difference between the laser pulse echo time and the laser pulse emission time. As shown in FIG. 4 , there are three radar echoes in the radar pulse period from time T2 to time T3 , and the radar transmission pulse time corresponding to echo t13 is T1 . First, assume that the received echoes t13 , t21 , and t22 in the T2 period all correspond to the transmitted pulse T2 , based on which the radar system solves the reflection positions corresponding to the echoes t13 , t21 , and t22 Object positions P13 (x13 , y13 , z13 ), P21 (x21 , y21 , z21 ), and P22 (x22 , y22 , z22 ) are shown in FIG. 5 .
根据相机成像模型：According to the camera imaging model:
s·M＝A[R|t]Ps·M＝A[R|t]P
其中，s是一个比例常数，P表示空间点的坐标，M表示投影在图像平面上的像素点坐标，A表示相机内参矩阵，[R|t]表示相机旋转平移矩阵。Among them, s is a proportional constant, P represents the coordinates of the space point, M represents the pixel coordinates projected on the image plane, A represents the camera internal reference matrix, and [R|t] represents the camera rotation and translation matrix.
激光脉冲返回位置坐标P13(x13,y13,z13)，P21(x21,y21,z21)，P22(x22,y22,z22)能被投影到图像I2图像坐标
当相机随载具移动到下一时刻如T3，根据T2时刻回波所解算的位置坐标P13(x13,y13,z13)，P21(x21,y21,z21)，P22(x22,y22,z22)可通过相机成像模型转换到图像I3图像坐标
根据图像I2上的图像坐标
若相似程度低，如坐标P13(x13,y13,z13)在I2和I3图像上所对应的点
如图6所示，本发明实施例还提供一种激光雷达多回波判别装置，包括：As shown in FIG. 6, the embodiment of the present invention also provides a laser radar multi-echo discrimination device, including:
数据获取模块，获取Ti及Ti+1时刻相机拍摄的图像Ii和Ii+1，并获取Ti时刻之后的至少一个周期内接收的激光雷达回波脉冲；其中i为正整数；T1时刻激光雷达首次发射脉冲；所述周期为激光雷达的脉冲发射周期；The data acquisition module acquires the images Ii and Ii+1 captured by the camera at Ti and Ti+1 moments, and acquires the lidar echo pulses received in at least one period after the Ti moment; wherein i is a positive integer; The laser radar emits pulses for thefirst time at T1 moment; the cycle is the pulse emission cycle of the laser radar;
坐标解算模块，根据激光雷达回波脉冲以及Ti时刻的激光雷达发射脉冲解算回波脉冲对应的目标点的位置坐标P；The coordinate calculation module calculates the position coordinates P of the target point corresponding to the echo pulse according to the laser radar echo pulse and the laser radar emission pulse at the Ti moment;
投影计算模块，利用相机成像模型，根据目标点的位置坐标P计算其投影到Ii上的图像坐标Mi以及其投影到Ii+1上的图像坐标Mi+1；The projection calculation module uses the camera imaging model to calculate the image coordinate Mi projected onto Ii and the image coordinate Mi+1 projected onto Ii+1 according to the position coordinate P of the target point;
匹配模块，计算图像坐标Mi和图像坐标Mi+1的相似度，若相似度高于预设阈值，则将目标点对应的雷达回波与Ti时刻的激光雷达发射脉冲匹配，否则将目标点对应的雷达回波与Ti-1时刻的激光雷达发射脉冲匹配。The matching module calculates the similarity between the image coordinates Mi and the image coordinates Mi+1 , if the similarity is higher than the preset threshold, the radar echo corresponding to the target point is matched with the laser radar emission pulse at Ti time, otherwise the The radar echo corresponding to the target point matches the laser radar emission pulse at Ti-1 time.
所述匹配模块，包括：相似度计算模块，所述相似度模块具体用于：The matching module includes: a similarity calculation module, and the similarity module is specifically used for:
在图像Ii上获取图像坐标Mi的邻域像素，在图像Ii+1上获取图像坐标Mi+1的邻域像素；Obtain the neighborhood pixels of the image coordinates Mi on the image Ii , and obtain the neighborhood pixels of the image coordinates Mi+1 on the image I i+1 ;
根据图像坐标Mi的邻域像素计算其对应的局部纹理LBP特征Fi；根据图像坐标Mi+1的邻域像素计算其对应的局部纹理LBP特征Fi+1；Calculate the corresponding local texture LBP feature Fi according to the neighborhood pixels of the image coordinate Mi ; calculate the corresponding local texture LBP feature F i+1 according to the neighborhood pixels of the image coordinate Mi+1 ;
利用皮尔逊相关系数度量局部纹理LBP特征Fi和Fi+1的相似度。The similarity between local texture LBP features Fi and Fi+1 is measured by Pearson correlation coefficient.
请参阅图7，图7为本发明实施例提供的电子设备的实施例示意图。如图7所示，本发明实施例提了一种电子设备500，包括存储器510、处理器520及存储在存储器520上并可在处理器520上运行的计算机程序511，处理器520执行计算机程序511时实现以下步骤：Please refer to FIG. 7 . FIG. 7 is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As shown in FIG. 7 , the embodiment of the present invention provides an
获取Ti及Ti+1时刻相机拍摄的图像Ii和Ii+1，并获取Ti时刻之后的至少一个周期内接收的激光雷达回波脉冲；其中i为正整数；T1时刻激光雷达首次发射脉冲；所述周期为激光雷达的脉冲发射周期；Obtain the images Ii and Ii+1 captured by the camera at Ti and Ti +1, and obtain the lidar echo pulses received in at leastone period after Ti ; where i is a positive integer; The radar emits pulses for the first time; the period is the pulse emission period of the lidar;
根据激光雷达回波脉冲以及Ti时刻的激光雷达发射脉冲解算回波脉冲对应的目标点的位置坐标P；Calculate the position coordinates P of the target point corresponding to the echo pulse according to the laser radar echo pulse and the laser radar emission pulse at Ti time;
利用相机成像模型，根据目标点的位置坐标P计算其投影到Ii上的图像坐标Mi以及其投影到Ii+1上的图像坐标Mi+1；Using the camera imaging model, calculate the image coordinate Mi projected onto Ii and the image coordinate Mi+1 projected onto Ii+1 according to the position coordinate P of the target point;
计算图像坐标Mi和图像坐标Mi+1的相似度，若相似度高于预设阈值，则将目标点对应的雷达回波与Ti时刻的激光雷达发射脉冲匹配，否则将目标点对应的雷达回波与Ti-1时刻的激光雷达发射脉冲匹配。Calculate the similarity between image coordinates Mi and image coordinates Mi+1 , if the similarity is higher than the preset threshold, match the radar echo corresponding to the target point with the laser radar emission pulse at Ti time, otherwise match the target point corresponding to The radar echo at Ti-1 matches the LiDAR emission pulse at time T i-1.
请参阅图8，图8为本发明实施例提供的一种计算机可读存储介质的实施例示意图。如图8所示，本实施例提供了一种计算机可读存储介质600，其上存储有计算机程序611，该计算机程序611被处理器执行时实现如下步骤：Please refer to FIG. 8 , which is a schematic diagram of an embodiment of a computer-readable storage medium provided by an embodiment of the present invention. As shown in FIG. 8 , this embodiment provides a computer-
获取Ti及Ti+1时刻相机拍摄的图像Ii和Ii+1，并获取Ti时刻之后的至少一个周期内接收的激光雷达回波脉冲；其中i为正整数；T1时刻激光雷达首次发射脉冲；所述周期为激光雷达的脉冲发射周期；Obtain the images Ii and Ii+1 captured by the camera at Ti and Ti +1, and obtain the lidar echo pulses received in at leastone period after Ti ; where i is a positive integer; The radar emits pulses for the first time; the period is the pulse emission period of the laser radar;
根据激光雷达回波脉冲以及Ti时刻的激光雷达发射脉冲解算回波脉冲对应的目标点的位置坐标P；Calculate the position coordinates P of the target point corresponding to the echo pulse according to the laser radar echo pulse and the laser radar emission pulse at Ti time;
利用相机成像模型，根据目标点的位置坐标P计算其投影到Ii上的图像坐标Mi以及其投影到Ii+1上的图像坐标Mi+1；Using the camera imaging model, calculate the image coordinate Mi projected onto Ii and the image coordinate Mi+1 projected onto Ii+1 according to the position coordinate P of the target point;
计算图像坐标Mi和图像坐标Mi+1的相似度，若相似度高于预设阈值，则将目标点对应的雷达回波与Ti时刻的激光雷达发射脉冲匹配，否则将目标点对应的雷达回波与Ti-1时刻的激光雷达发射脉冲匹配。Calculate the similarity between image coordinates Mi and image coordinates Mi+1 , if the similarity is higher than the preset threshold, match the radar echo corresponding to the target point with the laser radar emission pulse at Ti time, otherwise match the target point corresponding to The radar echo at Ti-1 matches the LiDAR emission pulse at time T i-1.
需要说明的是，在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详细描述的部分，可以参见其它实施例的相关描述。It should be noted that, in the foregoing embodiments, descriptions of each embodiment have their own emphases, and for parts that are not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式计算机或者其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce a machine for A device for realizing the functions specified in one or more procedures of a flowchart and/or one or more blocks of a block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is understood. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包括这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies thereof, the present invention also intends to include these modifications and variations.
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