CN113466826A - Data denoising method, device, equipment and medium for range radar - Google Patents
Data denoising method, device, equipment and medium for range radar Download PDFInfo
- Publication number
- CN113466826A CN113466826A CN202110518503.8A CN202110518503A CN113466826A CN 113466826 A CN113466826 A CN 113466826A CN 202110518503 A CN202110518503 A CN 202110518503A CN 113466826 A CN113466826 A CN 113466826A
- Authority
- CN
- China
- Prior art keywords
- data
- point
- current data
- data point
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000004927 fusion Effects 0.000 claims abstract description 66
- 238000005259 measurement Methods 0.000 claims abstract description 60
- 238000003384 imaging method Methods 0.000 claims abstract description 33
- 238000004590 computer program Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 238000007499 fusion processing Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000008021 deposition Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Image Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a data denoising method and device for a distance measuring radar, electronic equipment and a non-transient computer readable storage medium, wherein the data denoising method comprises the following steps: performing data fusion on measurement data returned by at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of a pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area; acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point; and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point. The technical scheme of the embodiment of the invention can determine the noise in the fusion data to remove the noise and optimize the imaging effect of the range radar.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a data denoising method and device for a range radar, electronic equipment and a non-transitory computer readable storage medium.
Background
Currently, in the process of imaging the interior of a pipeline based on two-dimensional laser scanning, two-dimensional image data of the interior of a two-dimensional image display pipeline is usually constructed according to echo signals of the same frame of laser signals.
The method for detecting the interior of the pipeline by using a video camera device through a television is the most common method for detecting the interior of the pipeline, the interior condition of the pipeline can be intuitively known through the television detection, but various pipeline defects, such as water passing section loss caused by deformation, deposition, obstacles and the like of the pipeline, cannot be quantified.
The distance measuring radar is adopted to carry out pipeline contour imaging and contrast analysis of the internal image of the pipeline detected by the television, so that the internal condition of the pipeline can be intuitively known, and various defects found in the pipeline detection can be quantified. The camera device which is relied on by the television detection is required to be arranged in front of the laser ranging radar so as to ensure that the picture is not blocked, and the advancing route of the equipment can be observed normally and comprehensively and the detection video can be recorded.
The ranging radar is generally carried in a traveling device, and the inner wall profile of the pipeline needs to be measured by scanning in a 360-degree circular direction. The distance measuring radar can have a certain angle range of the annular distance measuring blind area due to the fact that the camera is shielded by the assembly structure when the camera is arranged in the front position, and therefore complete pipeline inner wall section outline imaging cannot be obtained by the aid of a single distance measuring radar. At the moment, the blind areas are mutually compensated by adopting two or more ranging radars, so that the profile imaging of the inner wall section of the complete pipeline can be realized.
When two or more ranging radars are adopted to simultaneously carry out contour imaging on the inner wall of the pipeline, the obtained imaging data are easy to generate the condition of more noise points, and the imaging effect of the pipeline contour is influenced.
Disclosure of Invention
The invention provides a data denoising method and device for a range radar, electronic equipment and a non-transient computer readable storage medium, which are used for solving the defect that in the prior art, a plurality of range radars have more imaging data noise points when imaging and scanning are carried out on a pipeline, and realizing more accurate pipeline contour imaging.
The invention provides a data denoising method of a distance measuring radar, which comprises the following steps: performing data fusion on measurement data returned by at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of a pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area; acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is not more than half of the number of the data points of the fusion data; and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of N adjacent data points in front of and behind the current data point.
According to the data denoising method of the range radar provided by the invention, the method for judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point comprises the following steps: and if the ratio of the distance value of the current data point to all the distance values in the first distance value group and the second distance value group is greater than a set first threshold value, the current data point is a noise point, wherein the first distance value group consists of the distance values of N adjacent data points in front of the current data point, and the second distance value group consists of the distance values of N adjacent data points behind the current data point.
According to the data denoising method of the range radar provided by the invention, the method for judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point comprises the following steps: acquiring a first mean value of distance values of N adjacent data points in front of the current data point and a second mean value of distance values of N adjacent data points behind the current data point; and if the ratio of the distance value of the current data point to the first average value and the second average value is greater than a set second threshold value, the current data point is a noise point.
According to the data denoising method of the range radar provided by the invention, the method for judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point comprises the following steps: acquiring a third mean value of distance values of N data points adjacent to the front of the current data point and N data points adjacent to the rear of the current data point; and if the ratio of the distance value of the current data point to the third mean value is greater than a set third threshold, the current data point is a noise point.
According to the data denoising method of the range radar provided by the invention, whether the current data point is a noise point is judged according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point, and the method further comprises the following steps: and sequentially judging whether all data points of the fusion data are noise points.
According to the data denoising method of the range radar provided by the invention, after judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point, the data denoising method comprises the following steps: and filtering noise in the fusion data to form imaging data so as to obtain contour imaging of the inner wall of the pipeline to be measured according to the imaging data.
According to the data denoising method for the range radar provided by the invention, the data fusion of the measurement data returned by at least two range radars comprises the following steps: converting the measurement data of different ranging radars to the same coordinate system according to the distance parameter value and the angle parameter value of the measurement data; and performing data fusion on the measurement data of the different range radars after the coordinate system conversion.
The invention also provides a data denoising device of the range radar, which comprises: the fusion unit is used for carrying out data fusion on the measurement data returned by the at least two distance measuring radars to obtain fusion data, and the measurement data is obtained by scanning and ranging the inner wall of the pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area; the acquisition unit is used for acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is not more than half of the number of the data points of the fusion data; and the judging unit is used for judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the data denoising method of the range radar.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the method for denoising range radar data as described in any one of the above.
According to the data denoising method, the data denoising device, the electronic equipment and the non-transient computer readable storage medium of the range radar, provided by the invention, the measurement data of different range radars are subjected to data fusion, the distance mean value is obtained according to the distance between the data points of the fusion data, and whether the current data point is a noise point is judged according to the relation between the distance value of a single data point and the distance value of an adjacent data point, so that the judgment of the noise point according to the distance value of the data point of the fusion data is realized, the noise point can be removed, and the accurate contour imaging inside the pipeline to be measured can be obtained.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a data denoising method for a range radar according to the present invention;
FIG. 2 is a schematic view of the installation location of the range radar provided by the present invention;
FIG. 3 is a schematic flow chart of data fusion of the range radar provided by the present invention;
FIG. 4A is a schematic diagram of a contour image formed by fused data before denoising according to the present invention;
FIG. 4B is a schematic diagram of a contour image formed by denoised fused data according to the present invention;
FIG. 4C is a second schematic diagram of a contour image formed by de-noised fused data according to the present invention;
FIG. 4D is a third schematic diagram of a contour image formed by de-noised fused data provided by the present invention;
FIG. 5 is a schematic structural diagram of a data denoising apparatus of a range radar according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the related art, when two or more range radars are used for imaging and detecting the contour of the pipeline, the obtained imaging data has more noise points.
To solve the technical problem, embodiments of the present invention provide a data denoising method and apparatus for a range radar, an electronic device, and a non-transitory computer-readable storage medium.
An exemplary embodiment of the present invention will be described in detail with reference to fig. 1 to 6.
Fig. 1 is a flowchart illustrating a data denoising method for a range radar according to an embodiment of the present invention. The method provided by the embodiment of the invention can be executed by any electronic equipment with computer processing capability, such as a terminal device and/or a server. As shown in fig. 1, the data denoising method of the range radar includes:
and 102, performing data fusion on the measurement data returned by the at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of the pipeline to be measured by the at least two distance measuring radars in the pipeline to be measured along the same scanning area.
Specifically, the range radar may be a laser scanning range radar that transmits a laser signal to a target scanning area and receives an echo signal returned after the laser signal encounters an obstacle. The distance from the ranging radar to each point of the obstacle can be obtained by analyzing the echo signals, and then the contour imaging of the obstacle can be obtained. The measurement data is data formed from the echo signals. The fused data is fused data comprising a plurality of data points arranged in sequence. When the ranging radar ranges the distance of the pipeline to be measured, a laser signal emitted by the ranging radar is perpendicular to the central axis direction of the pipeline to be measured to form a continuous scanning area. The same scanning area refers to several measuring points located on the same circumference of the inner wall of the pipe.
And 104, acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is not more than half of the number of the data points of the fusion data.
Specifically, the distance between the data point represented by each data point of the fused data and the coordinate origin where the fused data is located may be mapped onto a circle. When the data points are counted along the circumference in a set direction, the next data point of the current data point along the set direction is considered as a front adjacent data point of the current data point, and the next data point of the current data point opposite to the set direction is considered as a rear adjacent data point of the current data point. Here, the set direction may be a clockwise direction or a counterclockwise direction. The neighboring data points include a front neighboring data point and a rear neighboring data point. The distance value is a numerical value of the distance between one data point of the fused data and the coordinate origin where the fused data is located, and each data point of the fused data corresponds to one distance value. When N is 5, the distance value of each of N data points adjacent to the front and the back of the current data point represents the distance value of 5 adjacent data points in front of and five adjacent data points in back of the current data point.
And step 106, judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
Specifically, the current data point is any data point in the fused data, and the distance value of the data point, the distance value of the front 5 adjacent data points, and the distance value of the rear 5 adjacent data points are combined to determine whether the data point is a noise point.
As shown in fig. 2, a ranging system of a ranging radar according to an embodiment of the present invention includes: a left radar 2021 and a right radar 2022 located in the pipe 201 to be measured, where the left radar 2021 is the first range radar and the right radar 2022 is the second range radar. The left radar 2021 and the right radar 2022 are used for respectively sending laser signals to the inner wall of the pipeline to be measured and correspondingly receiving returned first echo signals and second echo signals, wherein the connecting line of the central points of the first ranging radar and the second ranging radar is along the diameter direction of the cross section of the pipeline to be measured. Specifically, the midpoint of the connecting line of the center points of the first ranging radar and the second ranging radar is the center O of the cross section of the pipeline to be measured.
The controller 203 may obtain first measurement data and second measurement data obtained by analyzing the first echo signal and the second echo signal respectively and corresponding to each other, and perform data fusion on the first measurement data and the second measurement data to obtain fusion data; and obtaining the contour image of the inner wall of the pipeline to be measured according to the fusion data.
The controller 203 can be in communication connection with the left radar 2021 and the right radar 2022 in a wireless communication mode or a wired communication mode to acquire measurement data of the ranging radar, perform data fusion processing and denoising, and finally obtain contour imaging of the inner wall of the pipeline to be measured.
This range radar can include rotary mechanism and fixed establishment, and rotary mechanism is used for driving range radar's laser emitter and echo collector to rotate, and fixed establishment is used for fixed rotary mechanism to make the range radar fix on the traveler.
When two-dimensional laser scanning is carried out, the rotating mechanism of the range radar sends a laser signal to a sampling point, namely a single point, once rotating, so that an echo signal of the single point can be collected. After the rotating mechanism rotates 360 degrees, the two-dimensional distance information of all the single points on one circumference of the inner wall of the standard pipeline can be obtained, and therefore the whole two-dimensional laser scanning ranging is completed.
When the measuring pipeline to be measured is subjected to contour imaging scanning, the ranging radar can be placed in the pipeline to be measured, the pipeline to be measured can be horizontally placed, and the ranging radar can be located at a position far away from the inner wall of the pipeline to be measured as far as possible. Preferably, the ranging radar can be located at the center of the pipe to be measured, which can improve the accuracy of the distance detection.
After the ranging radar is fixed, the ranging radar is started to scan and measure the standard pipeline, namely laser scanning is sequentially carried out on a plurality of single points inside the pipeline, reflected light waves formed after the laser is reflected by the plurality of single points inside the pipeline are sequentially obtained, and the reflected light waves are echo signals of laser signals. Here, the positions of the plurality of single points may be located on the same cross section of the standard pipe and evenly distributed over the circumference of the cross section.
After the ranging radar is set, the ranging radar is started to scan and measure a standard pipeline, namely laser scanning is carried out on a plurality of single points inside the pipeline in sequence, reflected light waves formed after the multiple single points inside the pipeline are reflected are obtained in sequence, and the reflected light waves are echo signals of laser signals. Here, the positions of the plurality of single points may be located on the same cross section of the standard pipe and evenly distributed over the circumference of the cross section.
As shown in fig. 3, in step 102, the following steps may be included:
and step 302, converting the measurement data of different ranging radars to the same coordinate system according to the distance parameter value and the angle parameter value of the measurement data.
And step 304, performing data fusion on the measurement data of different range radars after the coordinate system conversion.
The data fusion means that the first measurement data and the second measurement data are superposed to form new data. Taking a data fusion process of measurement data obtained by measuring the inner wall of the pipeline by two ranging radars as an example, the first measurement data is measurement data in a first coordinate system with the position of the first ranging radar as the origin of coordinates, and the second measurement data is measurement data in a second coordinate system with the position of the second ranging radar as the origin of coordinates. In step 302, the first measurement data and the second measurement data are converted into the same coordinate system, that is, the first measurement data and the second measurement data are converted into the data in the same coordinate system.
The first measurement data comprise a first distance parameter value and a first angle parameter value, the second measurement data comprise a second distance parameter value and a second angle parameter value, the first measurement data and the second measurement data are converted to the same coordinate system, firstly, the distance between the position of the first distance measuring radar and the position of the second distance measuring radar is required to be obtained according to the first distance parameter value, the first angle parameter value, the second distance parameter value and the second angle parameter value, and the first coordinate system where the first measurement data are located and the second coordinate system where the second measurement data are located are obtained. Here, the distance is a distance separating a center point of a position where the first ranging radar is located and a center point of a position where the second ranging radar is located. And translating the origin of the coordinate system of one or both of the first coordinate system and the second coordinate system according to the distance, namely converting the first measurement data and the second measurement data into the same coordinate system.
Here, the distance parameter value of the first distance parameter value and the second distance parameter value is the distance value in the embodiment of the present invention.
In step 304, for the overlapped parts of the different ranging radars to the measuring range of the inner wall of the pipeline to be measured, the measured data obtained by the different ranging radars are overlapped to obtain the data of the overlapped parts; aiming at the non-overlapped part of the measuring range of different distance measuring radars on the inner wall of the pipeline to be measured, taking the measuring data of the distance measuring radar for measuring the non-overlapped part as the data of the non-overlapped part; and obtaining fused data according to the data of the overlapped part and the data of the non-overlapped part.
When data fusion is performed, firstly, part of invalid data of a first measuring blind area corresponding to first measuring data is removed, and part of invalid data of a second measuring blind area corresponding to second measuring data is removed, and then fusion processing is performed on the remaining data, namely, fusion processing needs to be performed on all data of the first measuring data and the second measuring data except for the self blind area of the ranging radar.
The defect that imaging is incomplete due to environmental changes when a range radar is used can be overcome through complete effective data obtained after data fusion.
The data fusion process when the two range radars measure the inner wall of the pipeline is detailed, in practical application, three or more range radars can be used for measuring the inner wall of the pipeline, and the data fusion method of the measured data of the range radars is the same as that of the two range radars.
In step 106, it is sequentially determined whether all data points of the fused data are noisy. And then, filtering noise points in the fusion data to form imaging data so as to obtain contour imaging of the inner wall of the pipeline to be measured according to the imaging data.
Contour imaging refers to transmitting obstacle detection information to a target display terminal and displaying on the target display terminal. And obtaining the relative position relation between each sampling point of the inner wall of the pipeline to be measured and the origin of the coordinate system after the transformation of the coordinate system according to the fusion data, thereby obtaining the contour information of the inner wall of the pipeline to be measured and further displaying the contour information on a target display terminal.
Example one
In this embodiment, in step 106, if the ratio of the distance value of the current data point to all the distance values in the first distance value group and the second distance value group is greater than the set first threshold, the current data point is noise, where the first distance value group is composed of the distance values of N data points adjacent in front of the current data point, and the second distance value group is composed of the distance values of N data points adjacent behind the current data point.
Here, if a ratio of the distance value of the current data point to any one of the first distance value group and the second distance value group is equal to or less than a first threshold, the current data point is not noisy.
Specifically, if the first threshold is 1.025, and N is 5, the distance value of one data point is 400mm, the distance values of the preceding 5 adjacent data points are 388mm, and the distance values of the following 5 adjacent data points are 388 mm. At this time, 400mm/388mm > 1.025, the data point is noise.
If the first threshold is 1.025, taking N as 5, the distance value of one data point is 400mm, the distance values of the front 5 adjacent data points are 388mm, 388mm and 391mm, respectively, and the distance values of the rear 5 adjacent data points are 388 mm. At this time, 400mm/391mm < 1.025, the data point is not noisy.
If the first threshold is 1, taking N as 5, the distance value of one data point is 400mm, the distance values of the front 5 adjacent data points are 388mm, and the distance values of the rear 5 adjacent data points are 388mm, 388mm and 400mm respectively. At this time, if 400mm/400mm is 1, the data point is not noise.
Fig. 4A and 4B are schematic diagrams of contour imaging formed by fused data before and after denoising by the data denoising method in the present embodiment, respectively.
Example two
In this embodiment, in step 106, a first mean value of the distance values of N adjacent data points in front of the current data point and a second mean value of the distance values of N adjacent data points behind the current data point are obtained; and if the ratio of the distance value of the current data point to the first average value and the second average value is larger than the set second threshold value, the current data point is a noise point. And if any one of the distance value of the current data point and the ratio of the first mean value to the second mean value is smaller than or equal to a set second threshold value, the current data point is a noise point.
Specifically, if the second threshold is 1.025, and N is 5, the distance value of a data point is 400mm, the first average of the distance values of the preceding 5 adjacent data points is 388mm, and the second average of the distance values of the following 5 adjacent data points is 388 mm. At this time, 400mm/388mm > 1.025, the data point is noise.
If the second threshold is 1.025, N is 5, the distance value of a data point is 400mm, the first average of the distance values of the preceding 5 adjacent data points is 388mm, and the second average of the distance values of the following 5 adjacent data points is 391 mm. At this time, 400mm/391mm < 1.025, the data point is not noisy.
Fig. 4A and 4C are schematic diagrams of contour imaging formed by fused data before and after denoising by the data denoising method in the present embodiment, respectively.
EXAMPLE III
In this embodiment, in step 106, a third mean value of the distance values of N data points adjacent in front of the current data point and N data points adjacent behind the current data point is obtained; and if the ratio of the distance value of the current data point to the third mean value is greater than a set third threshold, the current data point is a noise point. And if the ratio of the distance value of the current data point to the third mean value is less than or equal to a set third threshold, the current data point is a noise point.
Specifically, if the third threshold is 1.025, and N is 5, the distance value of one data point is 400mm, and the third average of the distance values of the front 5 adjacent data points and the rear 5 adjacent data points is 388 mm. At this time, 400mm/388mm > 1.025, the data point is not noise.
If the third threshold is 1.025, N is 5, the distance value of a data point is 400mm, and the third average of the distance values of the front 5 adjacent data points and the rear 5 adjacent data points is 391 mm. At this time, 400mm/91mm < 1.025, the data point is not noise.
Fig. 4A and 4D are schematic diagrams of contour imaging formed by fused data before and after denoising by the data denoising method in the present embodiment, respectively.
According to the data denoising method of the range radar, provided by the invention, the measurement data of different range radars are subjected to data fusion, the distance mean value is obtained according to the distance between the data points of the fusion data, and whether the current data point is a noise point is judged according to the relation between the distance value of a single data point and the distance value of an adjacent data point, so that the judgment of the noise point according to the distance value of the data point of the fusion data is realized, the noise point can be removed, and the more accurate contour imaging of the interior of the pipeline to be measured is obtained.
The data denoising method for the range radar according to the present invention is described below, and the data denoising method for the range radar described below and the data denoising method for the range radar described above may be referred to each other.
As shown in fig. 5, the data denoising device for a range radar according to an embodiment of the present invention includes:
and the fusion unit 502 is configured to perform data fusion on the measurement data returned by the at least two distance measuring radars to obtain fusion data, where the measurement data is obtained by scanning and ranging the inner wall of the pipeline to be measured by the at least two distance measuring radars located in the pipeline to be measured along the same scanning area.
The obtaining unit 504 is configured to obtain a distance value of a current data point in the fused data, and distance values of N adjacent data points in front of and behind the current data point, where N is not greater than half of the number of data points in the fused data.
The determining unit 506 is configured to determine whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
For details which are not disclosed in the embodiments of the device of the present invention, please refer to the embodiments of the data denoising method for a range radar described above for the details which are not disclosed in the embodiments of the device of the present invention.
According to the data denoising device for the range radar, provided by the invention, the measurement data of different range radars are subjected to data fusion, the distance mean value is obtained according to the distance between the data points of the fusion data, and whether the current data point is a noise point is judged according to the relation between the distance value of a single data point and the distance value of an adjacent data point, so that the judgment of the noise point according to the distance value of the data point of the fusion data is realized, the noise point can be removed, and the more accurate contour imaging of the interior of the pipeline to be measured is obtained.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication interface (communication interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication interface 620 and the memory 630 are communicated with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method of data de-noising for a range radar, the method comprising: performing data fusion on measurement data returned by at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of a pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area; acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is not more than half of the number of the data points of the fusion data; and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method for denoising ranging radar data provided by the above methods, the method comprising: performing data fusion on measurement data returned by at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of a pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area; acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is not more than half of the number of the data points of the fusion data; and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the method for denoising ranging radar data provided in each of the above aspects, the method comprising: performing data fusion on measurement data returned by at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of a pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area; acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is not more than half of the number of the data points of the fusion data; and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A data denoising method of a range radar is characterized by comprising the following steps:
performing data fusion on measurement data returned by at least two distance measuring radars to obtain fusion data, wherein the measurement data is obtained by scanning and ranging the inner wall of a pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area;
acquiring a distance value of a current data point in the fusion data and distance values of N adjacent data points in front of and behind the current data point, wherein N is a positive integer and is not more than half of the number of the data points of the fusion data;
and judging whether the current data point is a noise point or not according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
2. The method of denoising as claimed in claim 1, wherein said determining whether the current data point is noise according to the distance value of the current data point and the distance values of N adjacent data points in front of and behind the current data point comprises:
and if the ratio of the distance value of the current data point to all the distance values in the first distance value group and the second distance value group is greater than a set first threshold value, the current data point is a noise point, wherein the first distance value group consists of the distance values of N adjacent data points in front of the current data point, and the second distance value group consists of the distance values of N adjacent data points behind the current data point.
3. The method of denoising as claimed in claim 1, wherein said determining whether the current data point is noise according to the distance value of the current data point and the distance values of N adjacent data points in front of and behind the current data point comprises:
acquiring a first mean value of distance values of N adjacent data points in front of the current data point and a second mean value of distance values of N adjacent data points behind the current data point;
and if the ratio of the distance value of the current data point to the first average value and the second average value is greater than a set second threshold value, the current data point is a noise point.
4. The method of denoising as claimed in claim 1, wherein said determining whether the current data point is noise according to the distance value of the current data point and the distance values of N adjacent data points in front of and behind the current data point comprises:
acquiring a third mean value of distance values of N data points adjacent to the front of the current data point and N data points adjacent to the rear of the current data point;
and if the ratio of the distance value of the current data point to the third mean value is greater than a set third threshold, the current data point is a noise point.
5. The data denoising method of any one of claims 1 to 4, wherein the determining whether the current data point is noise according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point further comprises:
and sequentially judging whether all data points of the fusion data are noise points.
6. The data denoising method of claim 5, wherein the data denoising method comprises, after determining whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point:
and filtering noise in the fusion data to form imaging data so as to obtain contour imaging of the inner wall of the pipeline to be measured according to the imaging data.
7. The data denoising method of claim 1, wherein the data fusion of the measurement data returned by at least two range radars comprises:
converting the measurement data of different ranging radars to the same coordinate system according to the distance parameter value and the angle parameter value of the measurement data;
and performing data fusion on the measurement data of the different range radars after the coordinate system conversion.
8. A data denoising apparatus for a range radar, comprising:
the fusion unit is used for carrying out data fusion on the measurement data returned by the at least two distance measuring radars to obtain fusion data, and the measurement data is obtained by scanning and ranging the inner wall of the pipeline to be measured by the at least two distance measuring radars positioned in the pipeline to be measured along the same scanning area;
the acquiring unit is used for acquiring a distance value of a current data point in the fused data and distance values of N adjacent data points in front of and behind the current data point, wherein N is a positive integer and is not more than half of the number of the data points of the fused data;
and the judging unit is used for judging whether the current data point is a noise point according to the distance value of the current data point and the distance values of the N adjacent data points in front of and behind the current data point.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for data denoising of a range radar according to any of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the method for data denoising of a range radar according to any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518503.8A CN113466826A (en) | 2021-05-12 | 2021-05-12 | Data denoising method, device, equipment and medium for range radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110518503.8A CN113466826A (en) | 2021-05-12 | 2021-05-12 | Data denoising method, device, equipment and medium for range radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113466826A true CN113466826A (en) | 2021-10-01 |
Family
ID=77870718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110518503.8A Pending CN113466826A (en) | 2021-05-12 | 2021-05-12 | Data denoising method, device, equipment and medium for range radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113466826A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102209385A (en) * | 2011-05-25 | 2011-10-05 | 厦门雅迅网络股份有限公司 | Method for calculating position of base station based on spatial outlier data mining algorithm |
| CN102944174A (en) * | 2012-11-28 | 2013-02-27 | 北京矿冶研究总院 | Point cloud data processing method and system |
| CN108549084A (en) * | 2018-01-30 | 2018-09-18 | 西安交通大学 | A kind of target detection based on sparse two-dimensional laser radar and Attitude estimation method |
| CN110246092A (en) * | 2019-05-02 | 2019-09-17 | 江西理工大学 | A kind of three-dimensional laser point cloud denoising method for taking neighborhood point mean distance and slope into account |
| CN111856496A (en) * | 2020-07-07 | 2020-10-30 | 武汉中仪物联技术股份有限公司 | Pipeline detection method and pipeline detection device |
| CN112285739A (en) * | 2020-11-19 | 2021-01-29 | 福勤智能科技（昆山）有限公司 | Data processing method, device, equipment and storage medium |
-
2021
- 2021-05-12 CN CN202110518503.8A patent/CN113466826A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102209385A (en) * | 2011-05-25 | 2011-10-05 | 厦门雅迅网络股份有限公司 | Method for calculating position of base station based on spatial outlier data mining algorithm |
| CN102944174A (en) * | 2012-11-28 | 2013-02-27 | 北京矿冶研究总院 | Point cloud data processing method and system |
| CN108549084A (en) * | 2018-01-30 | 2018-09-18 | 西安交通大学 | A kind of target detection based on sparse two-dimensional laser radar and Attitude estimation method |
| CN110246092A (en) * | 2019-05-02 | 2019-09-17 | 江西理工大学 | A kind of three-dimensional laser point cloud denoising method for taking neighborhood point mean distance and slope into account |
| CN111856496A (en) * | 2020-07-07 | 2020-10-30 | 武汉中仪物联技术股份有限公司 | Pipeline detection method and pipeline detection device |
| CN112285739A (en) * | 2020-11-19 | 2021-01-29 | 福勤智能科技（昆山）有限公司 | Data processing method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111383285B (en) | Sensor fusion calibration method and system based on millimeter wave radar and camera | |
| CN112513679B (en) | Target identification method and device | |
| CN107942342A (en) | Data processing method, device, system and the storage medium of anemometry laser radar | |
| CN110443275B (en) | Method, apparatus and storage medium for removing noise | |
| CN111323756B (en) | Marine radar target detection method and device based on deep learning | |
| JP6084810B2 (en) | Tracking processing apparatus and tracking processing method | |
| CN113514054A (en) | Star sensor star point image spot detection method and system | |
| CN112651359A (en) | Obstacle detection method, obstacle detection device, electronic apparatus, and storage medium | |
| CN111323757B (en) | Target detection method and device for marine radar | |
| CN113466887A (en) | Data denoising method, device and equipment for range radar and storage medium | |
| CN110068826B (en) | Distance measurement method and device | |
| CN110470669B (en) | Leakage detection method and system for underwater pipeline and related device | |
| CN112800888B (en) | Target reporting method and device based on image recognition | |
| CN113466826A (en) | Data denoising method, device, equipment and medium for range radar | |
| CN109212554B (en) | Vehicle-mounted information acquisition system and control method and device thereof | |
| EP2347713A1 (en) | Ultrasound Image Enhancement in an Ultrasound System | |
| CN111948658A (en) | Deep water area positioning method for identifying and matching underwater landform images | |
| CN113359152A (en) | Scanning imaging method, system, device, equipment and medium of range radar | |
| CN111736157B (en) | PPI data-based prediction method and device for nowcasting | |
| CN116413701A (en) | Method and device for determining interference point, storage medium and multichannel laser radar | |
| CN111399038B (en) | Slope parameter extraction method and device and computer readable storage medium | |
| CN114463393A (en) | Image registration method, computer equipment and storage device | |
| CN113359150A (en) | Method and device for acquiring pipeline section profile, electronic equipment and storage medium | |
| CN113359115B (en) | Integral calibration method, system, device, equipment and medium of range radar | |
| JP7215108B2 (en) | Detecting parts of interest in images or matrix data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211001 |
|
| RJ01 | Rejection of invention patent application after publication |