CN116840853A - Method and system for removing tailing points and outliers of multi-line laser radar - Google Patents

Method and system for removing tailing points and outliers of multi-line laser radar Download PDF

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Publication number
CN116840853A
CN116840853A CN202310618135.3A CN202310618135A CN116840853A CN 116840853 A CN116840853 A CN 116840853A CN 202310618135 A CN202310618135 A CN 202310618135A CN 116840853 A CN116840853 A CN 116840853A
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points
line
point
radar
included angle
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Inventor
李昭
付周
李建强
李帅
孟广辉
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Shandong Alesmart Intelligent Technology Co Ltd
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Shandong Alesmart Intelligent Technology Co Ltd
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Priority to CN202310618135.3A priority Critical patent/CN116840853A/en
Publication of CN116840853A publication Critical patent/CN116840853A/en
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    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • 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
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention belongs to the field of laser radar data processing, and provides a method and a system for removing tailing points and outliers of a multi-line laser radar. The method for removing the tailing points and the outliers of the multi-line laser radar comprises the steps of obtaining multi-line laser radar point cloud data; sequentially calculating two adjacent front and rear points on each radar laser line, and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar; judging an included angle between a connecting line formed by two adjacent points and the multi-line laser radar and an included angle threshold value, and if the former is not in the included angle threshold value range, marking a second point in the two adjacent points as a discrete point or a trailing point; and traversing the points on each radar laser line in sequence, and removing the marked points and the set number of points adjacent to the marked points to obtain preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar.

Description

Method and system for removing tailing points and outliers of multi-line laser radar
Technical Field
The invention belongs to the field of laser radar data processing, and particularly relates to a method and a system for removing tailing points and outliers of a multi-line laser radar.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the development of unmanned technology, SLAM technology is widely applied, and the use of laser radar for map building, positioning and navigation is more and more in fields. Under the application scene, the robot is required to carry out map building, positioning and navigation through the laser radar, and therefore high requirements are put on the accuracy of point cloud data acquired by the laser radar. Typically, the ideal laser pulse impinges on the target as a point, but in practice the radar emits the laser pulse over a range of angles so that a line is formed when impinging on the object. Thus when there are two objects, one part of the laser pulse just strikes the edge of the front object, and the rest of the laser pulse strikes the rear object, the return light is the superposition of the reflected light of the two parts of the laser pulse. At this time, the lidar judges that the measurement target is located between the two objects, and a tailing phenomenon is formed, and the formed point cloud is also called a tailing point. While outliers of the radar are most likely caused by external interference received by the radar or measurement calculation errors. Both point clouds can reduce the mapping and positioning accuracy, and bring unnecessary trouble to subsequent point cloud processing.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a method and a system for removing tailing points and outliers of a multi-line laser radar, which are applied to a point cloud preprocessing stage of the laser radar to efficiently and rapidly remove the tailing points and the outliers, improve the positioning and mapping precision of the radar, and effectively reduce the deviation caused by the tailing points and the outliers of the radar.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a method for removing tailing points and outliers of a multi-line laser radar.
A method for removing tailing points and outliers of a multi-line laser radar comprises the following steps:
acquiring multi-line laser radar point cloud data;
sequentially calculating two adjacent front and rear points on each radar laser line, and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar;
judging the included angle between the connecting line formed by two adjacent points and the multi-line laser radar and the included angle threshold range, and if the former is not in the included angle threshold range, marking the second point of the two adjacent points as a discrete point or a trailing point;
and traversing the points on each radar laser line in sequence, and removing the marked points and the set number of points adjacent to the marked points to obtain preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar.
As one embodiment, in the process of traversing the points on each radar laser line, the marked points and three points adjacent to the marked points are removed, so as to obtain preprocessed multi-line laser radar point cloud data.
As an implementation mode, according to the position coordinates and the geometric principle of two adjacent front and rear points on each radar laser line and the multi-line radar, the included angle between the connecting line formed by the two adjacent points and the multi-line laser radar is calculated.
As one embodiment, the upper limit of the included angle threshold range is 175 °.
As one embodiment, the lower limit of the range of the included angle threshold is 5 °.
The second aspect of the invention provides a multi-line lidar tailing point and outlier removal system.
A multi-line lidar tailing point and outlier removal system comprising:
the point cloud data module is used for acquiring multi-line laser radar point cloud data;
the included angle calculation module is used for sequentially calculating two adjacent front and rear points on each radar laser line and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar;
the point cloud marking module is used for judging the included angle between a connecting line formed by two adjacent points and the multi-line laser radar and the included angle threshold range, and marking the second point of the two adjacent points as a discrete point or a trailing point if the former is not in the included angle threshold range;
the point cloud removing module is used for traversing the points on each radar laser line in sequence, removing the marked points and the set number of points adjacent to the marked points, and obtaining preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar.
In one embodiment, in the point cloud removing module, in the process of traversing the points on each radar laser line, the marked points and three points adjacent to the marked points are removed, so as to obtain preprocessed multi-line laser radar point cloud data.
As an implementation mode, in the included angle calculating module, according to the position coordinates and the geometric principle of two adjacent front and rear points on each radar laser line and the multi-line radar, calculating the included angle between the connecting line formed by the two adjacent points and the multi-line laser radar;
as one embodiment, the upper limit of the range of the included angle threshold is 175 °, and the lower limit of the range of the included angle threshold is 5 °.
A third aspect of the present invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in the multi-line lidar tailing point and outlier removal method as described above.
A fourth aspect of the invention provides an electronic device.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the multi-line lidar tailing point and outlier removal method as described above when the program is executed.
Compared with the prior art, the invention has the beneficial effects that:
according to the method, the front point and the rear point which are adjacent on each radar laser line are calculated in sequence, the included angle between the connecting line formed by the two adjacent points and the multi-line laser radar is calculated, and then the judgment is carried out with the preset included angle threshold range. And further, discrete points or trailing points are marked, and whether the trailing points are the trailing points or not can be judged only by calculating the included angle between two adjacent point clouds, so that the trailing points and the outliers can be efficiently and rapidly filtered, the precision and the reliability of the point clouds are improved, the decline of the map-building positioning precision caused by the point cloud data is greatly avoided, the robustness in the point cloud data processing stage is improved, and the reliability guarantee is provided for the subsequent map-building positioning navigation obstacle avoidance and the like.
The method is suitable for construction and positioning of places with strict requirements on the accuracy of the point cloud of the multi-line laser radar, such as outdoor or indoor environments. The method can be used for forming the tailing point because of the hardware of the radar scanning beam, which causes that the tailing point is difficult to filter from the most original hardware angle, and the method starts from the original point cloud, judges whether the tailing point or the discrete point is the tailing point or the discrete point according to the size of the included angle by using the geometric principle according to the reason of forming the tailing point, greatly improves the precision and the accuracy of the point cloud, and provides reliable guarantee for the subsequent point cloud processing.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a flowchart of a method for removing tailing points and outliers of a multi-line lidar in accordance with an embodiment of the present invention;
FIG. 2 is a top view of a calculation of an angle between adjacent point clouds according to an embodiment of the present invention;
FIG. 3 is a top view of the angle between the trailing or discrete points and the laser beam in an embodiment of the invention;
FIG. 4 is a top view of the trailing or discrete point angle with the laser beam according to an embodiment of the invention;
FIG. 5 is a trailing point or discrete point determination flowchart of an embodiment of the present invention;
FIG. 6 is a tailing point or discrete point removal flow chart of an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
As shown in fig. 1, the present embodiment provides a method for removing tailing points and outliers of a multi-line laser radar, which includes:
step 1: and acquiring multi-line laser radar point cloud data.
In the implementation process, radar point cloud data of each frame can be acquired through a multi-line laser radar installed in front of the robot.
Step 2: and sequentially calculating two adjacent front and rear points on each radar laser line, and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar.
Specifically, according to the position coordinates and the geometric principle of two adjacent front and rear points on each radar laser line and the multi-line radar, calculating the included angle between the connecting line formed by the two adjacent points and the multi-line laser radar.
As shown in FIG. 2, the Euclidean distance d from the multi-line radar to the point 1 and the point 2 is obtained through the point 1 and the point 2 1 And d 2 . The perpendicular line is drawn from the point 2 to the straight line connecting the point 1 and the radar, and the intersection with the point 0 can be known that the included angles formed by the point 1, the point 0 and the point 2 are right angles. The horizontal resolution beta of the radar is known, and the distance from the point 0 to the radar is d 2 cos beta, distance x from point 1 to point 0 1 Is d 1 -d 2 cos beta, the Euclidean distance x between two points can be known by the position coordinates of the point 1 and the point 2 2 Then the included angles formed by the point 2 and the point 1 and the radar
Step 3: and judging the included angle between the connecting line formed by two adjacent points and the multi-line laser radar and the included angle threshold range, and if the included angle is not in the included angle threshold range, marking the second point of the two adjacent points as a discrete point or a trailing point, as shown in fig. 4 and 5.
Wherein the upper limit of the included angle threshold range is 175 degrees. The lower limit of the included angle threshold range is 5 degrees. If the upper limit of the range of the included angle threshold is larger than 175 degrees, correct points are filtered out, and if the lower limit of the range of the included angle threshold is smaller than 5 degrees, error points cannot be filtered out.
And traversing two adjacent points on each radar line in the radar point cloud data according to the radar rotation direction in sequence to obtain coordinates of the point 1 and the point 2. Calculating the included angle theta between the point 1, the point 2 and the radar three points 1 Will be theta 1 And comparing with a maximum included angle threshold 175 DEG or a minimum included angle threshold 5 DEG, and marking the point 2 as a tailing point or a discrete point if the included angles between the point 1, the point 2 and the radar three points are larger than the maximum included angle threshold or smaller than the minimum included angle threshold.
As shown in fig. 2, the points 1 and 2 are normal point clouds, and the included angle between the points and the radar is not greater than the maximum included angle threshold value and not less than the minimum included angle threshold value. But the included angles formed by the points 2 and 3 and the radar are theta 2 The included angle is larger than the maximum threshold value of the included angle by 175 degrees, and the marked point 3 is a trailing point or an outlier。
As shown in fig. 3, the included angles formed by the points 2 and 3 and the radar are not greater than the maximum included angle threshold value, but less than the minimum included angle threshold value by 5 degrees, and the marked point 3 is a trailing point or a discrete point.
Step 4: and traversing the points on each radar laser line in sequence, and removing the marked points and the set number (such as 2, 3 or other numbers) of points adjacent to the marked points, so as to obtain preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar, as shown in fig. 6.
In this embodiment, the marked points and the three points adjacent to the marked points are removed, so as to obtain preprocessed multi-line laser radar point cloud data.
Since the trailing spot is caused by the non-uniformity of the object hit by the "one-shot" laser, the laser beam is "continuous" and not discrete. Experimental analysis shows that when a point is judged to be a tailing point or an outlier, then two or three points next to the tailing point are also highly probable to be outliers or discrete points, but the tailing phenomenon is not obvious, and is difficult to judge and exclude through a threshold value. Therefore, once one point is determined to be a trailing point, the three adjacent points are removed together, so that the removal efficiency can be improved, and meanwhile, more stable and more effective outlier removal can be ensured.
The method and the device are not only aimed at removing the radar tailing points, but also can effectively remove outliers in the radar point cloud. By using the method, two types of point cloud data can be effectively removed, namely a radar tailing point and an outlier point in a radar point cloud. Both point clouds can greatly influence the mapping positioning precision, only radar tailing points are removed, and the rest outliers can similarly influence the processing of the following point clouds. The generation principle of the outlier is different from that of the point cloud tailing point, but the outlier in the point cloud can be found out by comparing the calculated included angle between two adjacent points with a preset included angle threshold value.
The method of the embodiment is simple to implement and low in calculation amount. Particularly in the field of map-building positioning, the method is mainly aimed at an environment with high real-time requirements and strict limitation on the calculation amount of the data processing stage of the front end in the place with high real-time requirements on the multi-line laser radar. The method of the embodiment is simple, has wide application range, and can quickly and efficiently remove the tailing point and the outlier.
Example two
The embodiment provides a system for removing tailing points and outliers of a multi-line laser radar, which comprises:
(1) The point cloud data module is used for acquiring multi-line laser radar point cloud data;
(2) The included angle calculation module is used for sequentially calculating two adjacent front and rear points on each radar laser line and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar;
and in the included angle calculation module, calculating the included angle between a connecting line formed by two adjacent points and the multi-line laser radar according to the position coordinates and the geometric principle of the front and rear adjacent points on each radar laser line and the multi-line radar.
(3) The point cloud marking module is used for judging the included angle between a connecting line formed by two adjacent points and the multi-line laser radar and the included angle threshold range, and marking the second point of the two adjacent points as a discrete point or a trailing point if the former is not in the included angle threshold range; wherein the upper limit of the included angle threshold range is 175 degrees. The lower limit of the included angle threshold range is 5 degrees.
(4) The point cloud removing module is used for traversing the points on each radar laser line in sequence, removing the marked points and the set number of points adjacent to the marked points, and obtaining preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar.
It should be noted that, each module in the embodiment corresponds to each step in the first embodiment one to one, and the implementation process is the same, which is not described here.
Example III
The present embodiment provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps in the multi-line lidar tailing point and outlier removal method as described above.
Example IV
The embodiment 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 realizes the steps in the method for removing the tailing point and the outlier of the multi-line laser radar when executing the program.
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 will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method for removing tailing points and outliers of a multi-line laser radar is characterized by comprising the following steps:
acquiring multi-line laser radar point cloud data;
sequentially calculating two adjacent front and rear points on each radar laser line, and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar;
judging the included angle between the connecting line formed by two adjacent points and the multi-line laser radar and the included angle threshold range, and if the former is not in the included angle threshold range, marking the second point of the two adjacent points as a discrete point or a trailing point;
and traversing the points on each radar laser line in sequence, and removing the marked points and the set number of points adjacent to the marked points to obtain preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar.
2. The method for removing tailing points and outliers of multi-line lidar of claim 1, wherein the marked points and three points next to each other are removed during traversing the points on each radar laser line to obtain preprocessed multi-line lidar point cloud data.
3. The method for removing tailing points and outliers of multi-line lidar according to claim 1, wherein the included angle between the connecting line formed by two adjacent points and the multi-line lidar is calculated according to the position coordinates and the geometric principle of the two adjacent points on each radar laser line and the multi-line lidar.
4. The multi-line lidar tailing point and outlier removal method of claim 1, wherein an upper limit of the range of angle thresholds is 175 °.
5. The multi-line lidar tailing point and outlier removal method of claim 1, wherein a lower limit of the range of angle thresholds is 5 °.
6. A multi-line lidar tailing point and outlier removal system, comprising:
the point cloud data module is used for acquiring multi-line laser radar point cloud data;
the included angle calculation module is used for sequentially calculating two adjacent front and rear points on each radar laser line and calculating an included angle between a connecting line formed by the two adjacent points and the multi-line laser radar;
the point cloud marking module is used for judging the included angle between a connecting line formed by two adjacent points and the multi-line laser radar and the included angle threshold range, and marking the second point of the two adjacent points as a discrete point or a trailing point if the former is not in the included angle threshold range;
the point cloud removing module is used for traversing the points on each radar laser line in sequence, removing the marked points and the set number of points adjacent to the marked points, and obtaining preprocessed multi-line laser radar point cloud data for positioning and mapping of the multi-line laser radar.
7. The multi-line lidar tailing point and outlier removal system of claim 6, wherein in the point cloud removal module, three points adjacent to a marked point and after the marked point are removed in the process of traversing the points on each radar laser line to obtain preprocessed multi-line lidar point cloud data.
8. The system for removing tailing points and outliers of multi-line lidar of claim 6, wherein in the included angle calculation module, an included angle between a connecting line formed by two adjacent points and the multi-line lidar is calculated according to position coordinates and geometric principles of two adjacent points and the multi-line lidar on each radar laser line;
or the upper limit of the included angle threshold range is 175 degrees, and the lower limit of the included angle threshold range is 5 degrees.
9. A computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps in the multi-line lidar tailing point and outlier removal method of any of claims 1 to 5.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps in the multi-line lidar tailing point and outlier removal method of any of claims 1-5 when the program is executed.
CN202310618135.3A 2023-05-26 2023-05-26 Method and system for removing tailing points and outliers of multi-line laser radar Pending CN116840853A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117055008A (en) * 2023-10-11 2023-11-14 武汉市品持科技有限公司 Processing method, device and equipment for point cloud tailing point and readable storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117055008A (en) * 2023-10-11 2023-11-14 武汉市品持科技有限公司 Processing method, device and equipment for point cloud tailing point and readable storage medium
CN117055008B (en) * 2023-10-11 2024-01-19 武汉市品持科技有限公司 Processing method, device and equipment for point cloud tailing point and readable storage medium

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