CN117651882A - Reflectivity correction method, reflectivity correction device, computer readable storage medium and terminal equipment - Google Patents
Reflectivity correction method, reflectivity correction device, computer readable storage medium and terminal equipment Download PDFInfo
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Abstract
A method, apparatus, computer readable storage medium and terminal device for correcting reflectivity, wherein after obtaining the distance measurement value and reflectivity measurement value obtained by measuring the target object by the laser radar (S301), the method judges the distance measurement value, and if the distance measurement value is greater than the preset distance threshold value (S302), the attenuation degree of the laser is considered to influence the accuracy of the reflectivity measurement value, and the accuracy of the reflectivity measurement value needs to be corrected. The correction coefficient corresponding to the distance measurement value is searched in a preset parameter table (S304), and the reflectance measurement value is corrected according to the correction coefficient, thereby obtaining a reflectance correction value of the target object (S305). Compared with the measured value of the reflectivity, the correction value of the reflectivity is closer to the actual reflectivity, and has better practical value.
Description
The application relates to the technical field of laser sensing, in particular to a reflectivity correction method, a reflectivity correction device, a computer-readable storage medium and terminal equipment.
The reflectivity is a physical quantity representing the optical reflectivity of the object, and the reflectivity information of the object is acquired, so that the object can be accurately identified. In the prior art, the reflectivity of an object is generally measured directly by a laser radar, but the measured reflectivity often has larger deviation from the actual reflectivity because the laser is attenuated continuously in the advancing process.
One of the purposes of the embodiments of the present application is: a reflectivity correction method, a device, a computer readable storage medium and a terminal device are provided, which aim to solve the problem that the reflectivity measured by the prior art tends to have larger deviation from the actual reflectivity.
A first aspect of an embodiment of the present application provides a reflectance correction method, which may include:
obtaining a distance measurement value and a reflectivity measurement value which are obtained by measuring a target object by a preset laser radar;
judging whether the distance measured value is larger than a preset distance threshold value or not;
if the distance measured value is larger than the distance threshold value, inquiring a correction coefficient corresponding to the distance measured value in a preset parameter table;
and correcting the reflectivity measured value according to the correction coefficient to obtain the reflectivity correction value of the target object.
In a specific implementation of the first aspect, before correcting the reflectance measurement according to the correction coefficient, the method may further include:
judging whether the measured value of the reflectivity is smaller than a preset reflectivity threshold value or not;
and if the measured value of the reflectivity is smaller than the threshold value of the reflectivity, adjusting the correction coefficient according to the threshold value of the reflectivity and the measured value of the reflectivity to obtain the adjusted correction coefficient.
In a specific implementation manner of the first aspect, the adjusting the correction coefficient according to the reflectivity threshold value and the reflectivity measurement value to obtain an adjusted correction coefficient may include:
calculating a difference between the reflectivity threshold and the reflectivity measurement;
calculating the product value of the difference value and the correction coefficient;
calculating a sum of the product value and the reflectance measurement value;
and determining the ratio of the sum value to the reflectivity threshold value as the adjusted correction coefficient.
In a specific implementation of the first aspect, the method may further include:
and if the reflectivity measured value is greater than or equal to the reflectivity threshold value, adjusting the correction coefficient to be 1.
In a specific implementation of the first aspect, the setting procedure of the parameter table may include:
for each distance value in a preset distance interval, measuring a reflectivity measured value of a preset standard target when the laser radar is separated from the standard target by the distance value;
calculating a correction coefficient corresponding to the distance value according to the reflectivity measured value of the standard target and a preset reflectivity standard value;
and setting the parameter table according to the corresponding relation between the distance value and the correction coefficient.
In a specific implementation of the first aspect, the calculating, according to the reflectance measurement value of the standard target and a preset reflectance standard value, a correction coefficient corresponding to the distance value may include:
and determining the ratio of the reflectivity standard value to the reflectivity measured value of the standard target as a correction coefficient corresponding to the distance value.
In a specific implementation of the first aspect, the method may further include:
and if the distance measurement value is smaller than or equal to the distance threshold value, determining the reflectivity measurement value as a reflectivity correction value of the target object.
A second aspect of embodiments of the present application provides a reflectivity correction mechanism, which may include:
the measuring value acquisition module is used for acquiring a distance measuring value and a reflectivity measuring value which are obtained by measuring a target object by a preset laser radar;
the distance judging module is used for judging whether the distance measured value is larger than a preset distance threshold value or not;
the correction coefficient inquiry module is used for inquiring a correction coefficient corresponding to the distance measurement value in a preset parameter table if the distance measurement value is larger than the distance threshold value;
and the reflectivity correction module is used for correcting the reflectivity measured value according to the correction coefficient to obtain a reflectivity correction value of the target object.
In a specific implementation of the second aspect, the apparatus may further include:
the reflectivity judging module is used for judging whether the reflectivity measured value is smaller than a preset reflectivity threshold value or not;
and the first adjustment module is used for adjusting the correction coefficient according to the reflectivity threshold value and the reflectivity measured value if the reflectivity measured value is smaller than the reflectivity threshold value, so as to obtain the adjusted correction coefficient.
In a specific implementation of the second aspect, the correction factor adjustment module may include:
a difference calculation unit for calculating a difference between the reflectance threshold and the reflectance measurement;
a product calculation unit for calculating a product value of the difference value and the correction coefficient;
a summing unit for calculating a sum of the product value and the reflectance measurement value;
and the ratio calculating unit is used for determining the ratio of the sum value to the reflectivity threshold value as the adjusted correction coefficient.
In a specific implementation of the second aspect, the apparatus may further include:
and the second adjustment module is used for adjusting the correction coefficient to be 1 if the measured value of the reflectivity is larger than or equal to the threshold value of the reflectivity.
In a specific implementation of the second aspect, the apparatus may further include:
the measuring module is used for measuring the reflectivity measured value of the standard target when the laser radar is separated from the preset standard target by the distance value for each distance value in the preset distance interval;
the correction coefficient calculation module is used for calculating a correction coefficient corresponding to the distance value according to the reflectivity measured value of the standard target and a preset reflectivity standard value;
and the parameter table setting module is used for setting the parameter table according to the corresponding relation between the distance value and the correction coefficient.
In a specific implementation of the second aspect, the correction factor calculating module is specifically configured to determine, as a correction factor corresponding to the distance value, a ratio of the reflectance standard value to a reflectance measurement value of the standard target.
In a specific implementation of the second aspect, the apparatus may further include:
and the reflectivity determining module is used for determining the reflectivity measured value as a reflectivity correction value of the target object if the distance measured value is smaller than or equal to the distance threshold value.
A third aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any one of the above-described reflectance correction methods.
A fourth aspect of the embodiments of the present application provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of any one of the above-mentioned methods for reflectivity correction when executing the computer program.
A fifth aspect of the embodiments of the present application provides a computer program product for, when run on a terminal device, causing the terminal device to perform the steps of any one of the above-described reflectance correction methods.
The beneficial effects of the embodiment of the application are that: after obtaining a distance measurement value and a reflectivity measurement value obtained by measuring a target object by a laser radar, the embodiment of the application judges the distance measurement value, and if the distance measurement value is greater than a preset distance threshold value, the attenuation degree of laser is considered to influence the accuracy of the reflectivity measurement value, and the accuracy of the reflectivity measurement value needs to be corrected. Inquiring a correction coefficient corresponding to the distance measurement value in a preset parameter table, and correcting the reflectivity measurement value according to the correction coefficient, so as to obtain a reflectivity correction value of the target object. Compared with the measured value of the reflectivity, the correction value of the reflectivity is closer to the actual reflectivity, and has better practical value.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required for the description of the embodiments or exemplary techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a lidar;
FIG. 2 is a schematic flow chart of parameter table setup;
FIG. 3 is a flow chart of one embodiment of a method for reflectivity correction in accordance with the embodiments of the present application;
FIG. 4 is a schematic flow chart of adjusting correction coefficients;
FIG. 5 is a logic diagram of a reflectance correction method according to an embodiment of the present application;
FIG. 6 is a graph showing the reflectance results of a test site prior to reflectance correction;
FIG. 7 is a graph showing the reflectance results of a test field after reflectance correction;
FIG. 8 is a block diagram of one embodiment of a reflectivity correction mechanism in accordance with one embodiment of the present application;
fig. 9 is a schematic block diagram of a terminal device in an embodiment of the present application.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In embodiments of the present application, the distance and reflectivity of the target object may be measured based on a lidar. The laser radar is an instrument for ranging by utilizing laser transmission and reception, different lasers emit laser beams with different vertical angles in the air, meanwhile, a photoelectric sensor receives echoes returned by a target object and converts the echoes into weak electric signals, and after amplification, the distance and the reflectivity of the target are calculated in a digital domain through analog-to-digital conversion, so that a scanning view field in the vertical direction is formed. When the motor rotates to the next angle, the whole transmitting and receiving unit repeatedly acts again and the same, the target distances of the adjacent angles are obtained after processing, and the distances and the reflectivities of all target objects with different horizontal angles are collected to form a scanning view field in the horizontal direction. The scanning in the horizontal direction and the scanning in the vertical direction are matched with each other to form three-dimensional distance information of a space target, and the shape, the size, the type and the like of the target object are determined through further sensing processing.
Fig. 1 is a schematic diagram of a typical lidar, where a control and processing unit is configured to control a system to operate according to a certain transmitting and receiving time sequence, and process received data to obtain a distance and reflectivity result of a target object, and the transmitting unit is typically a plurality of semiconductor laser arrays, and transmits laser light according to a certain time sequence under the driving of voltage, and when there is a target object in a transmitting direction, a returned echo is sent to a receiving photoelectric sensor through a receiving lens, converted into an electrical signal, amplified by the receiving unit and converted into a digital quantity, and then formed into a distance and reflectivity result after subsequent digital processing.
Reflectivity is a physical quantity that characterizes the optical reflectivity of an object. Any object in nature has the phenomenon of absorbing and reflecting incident light after being irradiated by light. Electromagnetic wave properties specific to different types of objects are also different, and thus their properties of reflecting incident light are also different. That is, when the incident light is fixed, the intensity of the reflected light is different when the incident light strikes different substances. For example, road signs and signs of roads are high-reflection objects, i.e. strong in reflection capability for incident light, while black objects such as black cars and black flannelette are low-reflection objects, i.e. weak in reflection capability for incident light. And acquiring reflectivity information of the object, and facilitating accurate target identification of the object.
When the laser radar is used for measuring the reflectivity, the ratio of the echo energy received by the receiving unit to the transmitting energy of the transmitting unit can be used as the reflectivity of a target object. However, in a real environment, as the distance increases, the laser light is continuously attenuated during the traveling process, and thus the measured reflectivity tends to deviate greatly from the actual reflectivity.
In order to obtain a more accurate reflectivity, in a specific implementation of the embodiment of the present application, a calibration method may be used to calculate the reflectivity. Namely, at different distance points with limited distances, using a plurality of different standard reflectivity material plates as standard targets to obtain standard energy of echo, and using the standard energy as a reference. And under a real scene, comparing the echo energy of the target object with different reflectivity materials with the standard energy collected in advance, so as to determine the reflectivity value of the current target object. However, time and place are required for acquiring the standard energy of the standard target, and assuming that the upper range limit of the lidar is 200 meters, acquiring the echo energy of the standard target from the nearest distance of 0 to the farthest distance of 200 meters theoretically requires at least 200 meters of place, and the acquisition of the echo energy of the standard target by traversing the 200 meters consumes a great deal of manpower and time cost.
In order to save space and reduce the consumption of manpower and time, the maximum calibration distance of the reflectivity can be set, and is marked as MaxDIsRef, and the specific value of the distance can be set according to the actual situation, for example, the distance can be set to be 30 meters. Within the distance, a calibration method can be adopted to calculate the reflectivity, if the reflectivity exceeds the distance, interpolation or fitting and other modes are adopted to perform theoretical extrapolation, so that the echo energy of the standard target between 30 meters and 200 meters is calculated. In this way, the full-distance reflectivity result can be calculated in a limited field and in a limited time. However, for distances outside the maximum calibration distance, since the actual echo energy result of the standard target is not used, but the result obtained by theoretical extrapolation calculation is still different from the actual value, in this case, the reflectivity of the target object in the calibration range is very accurate, and the reflectivity of the target object outside the calibration range is different from the actual value, and the further the distance is, the larger the difference is.
Aiming at the difference between the reflectivity of the non-calibrated distance and the actual reflectivity, in a specific implementation of the embodiment of the application, the measured value of the reflectivity can be corrected through a certain correction coefficient, so that the more accurate reflectivity is obtained. For different distances, the corresponding correction coefficients are generally different, so that a parameter table can be established according to the different distances and the correction coefficients corresponding to the different distances, when the reflectivity correction is required, the correction coefficient corresponding to the current distance can be obtained through a table look-up mode, and the reflectivity correction is carried out accordingly.
As shown in fig. 2, in a specific implementation of the embodiment of the present application, the setting procedure of the parameter table may include the following steps:
step S201, for each distance value in the preset distance interval, measuring the reflectivity measurement value of the standard target when the laser radar is separated from the preset standard target by the distance value.
The distance interval is a distance interval from the maximum calibration distance to the upper range limit of the laser radar, for example, the distance interval can be 30 meters to 200 meters. The specific measurement interval can be set according to practical situations, for example, the measurement can be performed once every 0.1 meter, 0.2 meter, 0.5 meter or 1 meter with the maximum calibration distance as a starting point, and it is easy to understand that the shorter the measurement interval is, the more accurate the final calculation result is.
Specifically, what object is selected as the standard target can be set according to practical situations, for example, leaves on trees can be used as the standard target. In a specific implementation of the embodiment of the application, a roadside planted with more trees can be selected as a test site, and reflectance measurement values of leaves of each distance value from near to far can be obtained. Each distance value may constitute a point cloud data pair with a corresponding reflectance measurement as follows: [ Dis (n), ref (n) ], wherein Dis (n) is a distance value and Ref (n) is a reflectance measurement value corresponding thereto.
Step S202, calculating a correction coefficient corresponding to the distance value according to the reflectivity measured value of the standard target and a preset reflectivity standard value.
The reflectivity standard value is the reflectivity measured value of the standard target when the distance between the laser radar and the standard target is smaller than the maximum calibration distance, and is recorded as RefT. At this time, since the distance is short, the measured value is small in the distance from the actual value, and the measured value can be approximately equivalent to the actual value.
In a specific implementation of the embodiment of the present application, a ratio of the reflectance standard value to the reflectance measurement value of the standard target may be calculated, and this ratio may be determined as a correction coefficient corresponding to the distance value, that is, the calculation of the correction coefficient is performed according to the following formula:
LutRatio(Dis(n))=RefT/Ref(n)
the LutRatio (Dis (n)) is a correction coefficient corresponding to the distance value of Dis (n).
Step S203, a parameter table is set according to the corresponding relation between the distance value and the correction coefficient.
Through the process, the corresponding relation between each distance value and the correction coefficient can be obtained by traversing each distance value, and the corresponding relation is stored in a data table form, so that a parameter table for inquiring during subsequent reflectivity correction is formed. It should be noted that the setting process of the parameter table above only needs to be performed once, and the obtained parameter table can be shared by all machines carrying the laser radar without resetting each machine.
After setting the completion parameter table, the reflectance correction can be performed using the parameter table. FIG. 3 is a flowchart illustrating an embodiment of a method for correcting reflectivity according to the present application, and the specific correcting process may include the following steps:
step S301, obtaining a distance measurement value and a reflectivity measurement value obtained by measuring a target object by a laser radar.
The measured distance measurement Dis (n) and the reflectance measurement Ref (n) constitute a point cloud data pair as shown below: [ Dis (n), ref (n) ].
Step S302, judging whether the distance measured value is larger than a preset distance threshold value.
The distance threshold is the maximum calibration distance. If the distance measurement is less than or equal to the distance threshold, step S303 is performed; if the distance measurement is greater than the distance threshold, step S304 and step S305 are performed.
Step S303, determining the reflectance measurement value as a reflectance correction value of the target object.
That is, when the distance measurement value is less than or equal to the distance threshold value, the reflectance measurement value is considered to be accurate, it may be approximately equivalent to an actual value without additional correction thereto, or the correction coefficient at this time may be considered to take a value of 1.
Step S304, inquiring a correction coefficient corresponding to the distance measurement value in a preset parameter table.
That is, the correction coefficient lutrio (Dis (n)) corresponding to the distance measurement value Dis (n) is searched for in the parameter table using the distance measurement value Dis (n) as a search index.
And step S305, correcting the reflectivity measured value according to the correction coefficient to obtain a reflectivity correction value of the target object.
In a specific implementation of the embodiment of the present application, the reflectance correction value of the target object may be directly calculated according to the following formula:
RefC(n)＝Ref(n)×LutRatio(Dis(n))
wherein RefC (n) is the reflectance correction value of the target object.
In another specific implementation of the embodiment of the present application, in order to prevent a situation that when Ref (n) is large, the final obtained result may exceed a reasonable value, before step S305, the correction coefficient obtained by querying in step S304 may also be adjusted through a process as shown in fig. 4:
step S401, determining whether the measured value of reflectivity is smaller than a preset reflectivity threshold.
The reflectance threshold is recorded as ReflctThre, and its specific value may be set according to practical situations, for example, it may be set to 200. If the reflectance measurement is greater than or equal to the reflectance threshold, step S402 is performed, and if the reflectance measurement is less than the reflectance threshold, step S403 is performed.
Step S402, the correction coefficient is adjusted to be 1.
That is, lutperiod (Dis (n))=1 is set, where lutperiod (Dis (n)) is the adjusted correction coefficient.
Step S403, the correction coefficient is adjusted according to the reflectivity threshold value and the reflectivity measured value, and the adjusted correction coefficient is obtained.
Specifically, the adjusted correction coefficient may be calculated according to the following formula:
LutRatioC(Dis(n))
＝[(ReflctThre－Ref(n))×LutRatio(Dis(n))＋Ref(n)]/ReflctThre
after obtaining the adjusted correction coefficient, the reflectance correction value of the target object can be calculated according to the following formula:
RefC(n)＝Ref(n)×LutRatioC(Dis(n))
fig. 5 is a logic diagram illustrating the implementation of the reflectivity correction method. As shown, the specific implementation procedure may include:
1. the corresponding correction coefficient lutrio (Dis (n)) is queried in the parameter table from the distance measurement Dis (n).
2. The difference RefSub (n) between the reflectivity threshold ReflctThre and the reflectivity measurement Ref (n) is calculated by a subtractor, namely:
RefSub(n)＝ReflctThre－Ref(n)
3. the product value Mul1 (n) of the difference RefSub (n) and the correction coefficient LutRatio (Dis (n)) is calculated by a first multiplier, namely:
Mul1(n)＝RefSub(n)×LutRatio(Dis(n))
4. the sum Add (n) of the product value Mul1 (n) and the reflectance measurement value Ref (n) is calculated by an adder, namely:
Add(n)＝Mul1(n)＋Ref(n)
5. the ratio (n) of the sum value Add (n) to the reflectivity threshold ReflctThre is calculated by a divider, namely:
RatioCorr(n)＝Add(n)/ReflctThre
6. in the selector, based on the distance measurement Dis (n), the distance threshold MaxDisRef, the reflectance threshold ReflctThre, and the reflectance measurement Ref (n), the final correction coefficient RatioChoose (n) is selected as follows:
RatioChoose (n) =ratio (n) when Dis (n) is greater than MaxDisRef, or when Ref (n) is less than ReflctThre, otherwise RatioChoose (n) =1.
7. The product of the reflectance measurement Ref (n) and the final correction factor RatioChoose (n) is calculated by a second multiplier, namely:
RefC(n)＝Ref(n)×RatioChoose(n)
thereby obtaining a reflectance correction value of the target object.
Fig. 6 shows the actual measurement result of the reflectivity of a certain measurement site before the reflectivity correction, wherein the points with different brightness in the figure represent different reflectivities, the higher the brightness is, the greater the reflectivity is, and after the reflectivity correction is performed, the result is shown in fig. 7, and it can be seen that a large number of measurement values of the reflectivity are corrected, and the result in fig. 7 is closer to the actual situation.
In summary, in the embodiment of the present application, after obtaining the distance measurement value and the reflectivity measurement value obtained by measuring the target object by the laser radar, the distance measurement value is determined, and if the distance measurement value is greater than the preset distance threshold value, it is considered that the attenuation degree of the laser has affected the accuracy of the reflectivity measurement value, and it is necessary to correct the reflectivity measurement value. Namely, a correction coefficient corresponding to the distance measurement value is inquired in a preset parameter table, and the reflectivity measurement value is corrected according to the correction coefficient, so that the reflectivity correction value of the target object is obtained. Compared with the measured value of the reflectivity, the correction value of the reflectivity is closer to the actual reflectivity, and has better practical value.
Fig. 8 shows a block diagram of an embodiment of a reflectance correction device according to an embodiment of the present application, corresponding to a reflectance correction method described in the above embodiment.
In this embodiment, a reflectance correction device may include:
the measured value obtaining module 801 is configured to obtain a distance measured value and a reflectivity measured value obtained by measuring a target object by using a preset laser radar;
a distance judging module 802, configured to judge whether the distance measurement value is greater than a preset distance threshold;
a correction coefficient query module 803, configured to query a preset parameter table for a correction coefficient corresponding to the distance measurement value if the distance measurement value is greater than the distance threshold value;
and the reflectivity correction module 804 is configured to correct the reflectivity measurement value according to the correction coefficient, so as to obtain a reflectivity correction value of the target object.
In a specific implementation of the embodiment of the present application, the reflectivity correction device may further include:
the reflectivity judging module is used for judging whether the reflectivity measured value is smaller than a preset reflectivity threshold value or not;
and the first adjustment module is used for adjusting the correction coefficient according to the reflectivity threshold value and the reflectivity measured value if the reflectivity measured value is smaller than the reflectivity threshold value, so as to obtain the adjusted correction coefficient.
In a specific implementation of the embodiment of the present application, the correction coefficient adjustment module may include:
a difference calculation unit for calculating a difference between the reflectance threshold and the reflectance measurement;
a product calculation unit for calculating a product value of the difference value and the correction coefficient;
a summing unit for calculating a sum of the product value and the reflectance measurement value;
and the ratio calculating unit is used for determining the ratio of the sum value to the reflectivity threshold value as the adjusted correction coefficient.
In a specific implementation of the embodiment of the present application, the reflectivity correction device may further include:
and the second adjustment module is used for adjusting the correction coefficient to be 1 if the measured value of the reflectivity is larger than or equal to the threshold value of the reflectivity.
In a specific implementation of the embodiment of the present application, the reflectivity correction device may further include:
the measuring module is used for measuring the reflectivity measured value of the standard target when the laser radar is separated from the preset standard target by the distance value for each distance value in the preset distance interval;
the correction coefficient calculation module is used for calculating a correction coefficient corresponding to the distance value according to the reflectivity measured value of the standard target and a preset reflectivity standard value;
and the parameter table setting module is used for setting the parameter table according to the corresponding relation between the distance value and the correction coefficient.
In a specific implementation of this embodiment of the present application, the correction coefficient calculation module is specifically configured to determine, as a correction coefficient corresponding to the distance value, a ratio of the reflectance standard value to a reflectance measurement value of the standard target.
In a specific implementation of the embodiment of the present application, the reflectivity correction device may further include:
and the reflectivity determining module is used for determining the reflectivity measured value as a reflectivity correction value of the target object if the distance measured value is smaller than or equal to the distance threshold value.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described apparatus, modules and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Fig. 9 shows a schematic block diagram of a terminal device provided in an embodiment of the present application, and for convenience of explanation, only a portion relevant to the embodiment of the present application is shown.
As shown in fig. 9, the terminal device 9 of this embodiment includes: a processor 90, a memory 91 and a computer program 92 stored in said memory 91 and executable on said processor 90. The processor 90, when executing the computer program 92, implements the steps of the various embodiments of the reflectivity correction method described above. Alternatively, the processor 90, when executing the computer program 92, performs the functions of the modules/units of the apparatus embodiments described above.
By way of example, the computer program 92 may be partitioned into one or more modules/units that are stored in the memory 91 and executed by the processor 90 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions describing the execution of the computer program 92 in the terminal device 9.
It will be appreciated by those skilled in the art that fig. 9 is merely an example of the terminal device 9 and does not constitute a limitation of the terminal device 9, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device 9 may further include an input-output device, a network access device, a bus, etc.
The processor 90 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application SpecificIntegrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 91 may be an internal storage unit of the terminal device 9, such as a hard disk or a memory of the terminal device 9. The memory 91 may also be an external storage device of the terminal device 9, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 9. Further, the memory 91 may also include both an internal storage unit and an external storage device of the terminal device 9. The memory 91 is used for storing the computer program as well as other programs and data required by the terminal device 9. The memory 91 may also be used for temporarily storing data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each method embodiment described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (16)
- A reflectance correction method, comprising:obtaining a distance measurement value and a reflectivity measurement value which are obtained by measuring a target object by a preset laser radar;judging whether the distance measured value is larger than a preset distance threshold value or not;if the distance measured value is larger than the distance threshold value, inquiring a correction coefficient corresponding to the distance measured value in a preset parameter table;and correcting the reflectivity measured value according to the correction coefficient to obtain the reflectivity correction value of the target object.
- The reflectance correction method according to claim 1, further comprising, before correcting the reflectance measurement value according to the correction coefficient:judging whether the measured value of the reflectivity is smaller than a preset reflectivity threshold value or not;and if the measured value of the reflectivity is smaller than the threshold value of the reflectivity, adjusting the correction coefficient according to the threshold value of the reflectivity and the measured value of the reflectivity to obtain the adjusted correction coefficient.
- The method of claim 2, wherein adjusting the correction factor based on the reflectance threshold and the reflectance measurement results in an adjusted correction factor, comprising:calculating a difference between the reflectivity threshold and the reflectivity measurement;calculating the product value of the difference value and the correction coefficient;calculating a sum of the product value and the reflectance measurement value;and determining the ratio of the sum value to the reflectivity threshold value as the adjusted correction coefficient.
- The reflectance correction method according to claim 2, further comprising:and if the reflectivity measured value is greater than or equal to the reflectivity threshold value, adjusting the correction coefficient to be 1.
- The reflectance correction method according to claim 1, wherein the setting process of the parameter table includes:for each distance value in a preset distance interval, measuring a reflectivity measured value of a preset standard target when the laser radar is separated from the standard target by the distance value;calculating a correction coefficient corresponding to the distance value according to the reflectivity measured value of the standard target and a preset reflectivity standard value;and setting the parameter table according to the corresponding relation between the distance value and the correction coefficient.
- The reflectance correction method according to claim 5, wherein the calculating a correction coefficient corresponding to the distance value from the reflectance measurement value of the standard target and a preset reflectance standard value includes:and determining the ratio of the reflectivity standard value to the reflectivity measured value of the standard target as a correction coefficient corresponding to the distance value.
- The reflectance correction method according to any one of claims 1 to 6, further comprising:and if the distance measurement value is smaller than or equal to the distance threshold value, determining the reflectivity measurement value as a reflectivity correction value of the target object.
- A reflectance correction device, comprising:the measuring value acquisition module is used for acquiring a distance measuring value and a reflectivity measuring value which are obtained by measuring a target object by a preset laser radar;the distance judging module is used for judging whether the distance measured value is larger than a preset distance threshold value or not;the correction coefficient inquiry module is used for inquiring a correction coefficient corresponding to the distance measurement value in a preset parameter table if the distance measurement value is larger than the distance threshold value;and the reflectivity correction module is used for correcting the reflectivity measured value according to the correction coefficient to obtain a reflectivity correction value of the target object.
- The reflectance correction device according to claim 8 further comprising:the reflectivity judging module is used for judging whether the reflectivity measured value is smaller than a preset reflectivity threshold value or not;and the first adjustment module is used for adjusting the correction coefficient according to the reflectivity threshold value and the reflectivity measured value if the reflectivity measured value is smaller than the reflectivity threshold value, so as to obtain the adjusted correction coefficient.
- The reflectance correction device according to claim 9 wherein the correction factor adjustment module comprises:a difference calculation unit for calculating a difference between the reflectance threshold and the reflectance measurement;a product calculation unit for calculating a product value of the difference value and the correction coefficient;a summing unit for calculating a sum of the product value and the reflectance measurement value;and the ratio calculating unit is used for determining the ratio of the sum value to the reflectivity threshold value as the adjusted correction coefficient.
- The reflectance correction device according to claim 9 further comprising:and the second adjustment module is used for adjusting the correction coefficient to be 1 if the measured value of the reflectivity is larger than or equal to the threshold value of the reflectivity.
- The reflectance correction device according to claim 8 further comprising:the measuring module is used for measuring the reflectivity measured value of the standard target when the laser radar is separated from the preset standard target by the distance value for each distance value in the preset distance interval;the correction coefficient calculation module is used for calculating a correction coefficient corresponding to the distance value according to the reflectivity measured value of the standard target and a preset reflectivity standard value;and the parameter table setting module is used for setting the parameter table according to the corresponding relation between the distance value and the correction coefficient.
- The reflectance correction device according to claim 12 wherein the correction factor calculation module is specifically configured to determine a ratio of the reflectance standard value to the reflectance measurement value of the standard target as a correction factor corresponding to the distance value.
- The reflectance correction device according to any one of claims 8 to 13 further comprising:and the reflectivity determining module is used for determining the reflectivity measured value as a reflectivity correction value of the target object if the distance measured value is smaller than or equal to the distance threshold value.
- A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the reflectance correction method according to any one of claims 1 to 7.
- Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the reflectivity correction method according to any one of claims 1 to 7 when the computer program is executed.
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| PCT/CN2021/108945 WO2023004628A1 (en) | 2021-07-28 | 2021-07-28 | Reflectivity correction method and apparatus, computer readable storage medium, and terminal device |
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| CN116520298A (en) * | 2023-06-12 | 2023-08-01 | 北京百度网讯科技有限公司 | Laser radar performance test method and device, electronic equipment and readable storage medium |
| CN116660873B (en) * | 2023-08-01 | 2023-11-03 | 佛山市兴颂机器人科技有限公司 | Precision compensation method, device and equipment for laser sensor and storage medium |
| CN117310662B (en) * | 2023-09-26 | 2024-04-12 | 探维科技(苏州)有限公司 | Reflectivity calibration method, device and system |
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| KR100252345B1 (en) * | 1997-08-13 | 2000-04-15 | 전주범 | Distortion complement method of radar system |
| CN107179295A (en) * | 2017-03-24 | 2017-09-19 | 深圳市速腾聚创科技有限公司 | Laser radar obtains method, device and the system of object reflectance |
| CN107678013B (en) * | 2017-09-14 | 2021-08-20 | 同济大学 | Remote laser radar calibration system and method |
| CN111587383A (en) * | 2018-11-30 | 2020-08-25 | 深圳市大疆创新科技有限公司 | Reflectivity correction method applied to distance measuring device and distance measuring device |
| JP7226000B2 (en) * | 2019-03-22 | 2023-02-21 | 株式会社デンソーウェーブ | LASER RADAR DEVICE AND CONTROL PROGRAM FOR THE LASER RADAR DEVICE |
| CN116973892A (en) * | 2019-04-29 | 2023-10-31 | 深圳市速腾聚创科技有限公司 | Laser radar calibration device |
| CN112585495B (en) * | 2019-11-01 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Laser radar system calibration method and calibration device, medium and ranging equipment |
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