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CN-122017811-A - Point cloud correction method, computer device and computer readable storage medium

CN122017811ACN 122017811 ACN122017811 ACN 122017811ACN-122017811-A

Abstract

The embodiment of the application discloses a point cloud correction method, computer equipment and a computer readable storage medium. The method comprises the steps of obtaining a point cloud data set of the laser radar for forward and backward scanning of a target plane, wherein the point cloud data set comprises multiple frames of point clouds, determining a target gain coefficient based on the point cloud data set, wherein the target gain coefficient is used for controlling the laser radar to correct distortion of the point cloud in a slow axis scanning direction, and controlling the laser radar to execute point cloud correction operation based on the target gain coefficient. The embodiment of the application can determine the target gain coefficient based on the point cloud data set obtained by forward and backward scanning, so that the laser radar adopts the target gain coefficient to correct the distortion of the point cloud in the slow axis scanning direction, the point cloud layering condition during forward and backward scanning of the laser is improved, the calculation precision of the point cloud is improved, the problem of the reduction of the quality of the point cloud caused by the feedback error of a device and the like is solved, and the precision and the stability of the point cloud are improved.

Inventors

  • XIE WENQIANG

Assignees

  • 深圳市速腾聚创科技有限公司

Dates

Publication Date
20260512
Application Date
20260409

Claims (10)

  1. 1. A point cloud correction method applied to a laser radar, wherein the laser radar comprises a galvanometer device, and the point cloud correction method comprises the following steps: Acquiring a point cloud data set of forward and backward scanning of a target plane by the laser radar, wherein the point cloud data set comprises multiple frames of point clouds, and each frame of point clouds is obtained by driving the galvanometer device to scan the target plane around a fast axis and a slow axis by the laser radar by adopting different gain coefficients; Determining a target gain coefficient based on the point cloud data set, wherein the target gain coefficient is used for controlling the laser radar to correct distortion of the point cloud in the slow axis scanning direction; And controlling the laser radar to execute point cloud correction operation based on the target gain coefficient.
  2. 2. The point cloud correction method of claim 1, wherein said determining a target gain factor based on said point cloud dataset comprises: Determining a thickness about the target plane based on the point cloud; determining a minimum thickness among the thicknesses of the plurality of frames of the point cloud; And determining a gain coefficient corresponding to the minimum thickness as a target gain coefficient.
  3. 3. The point cloud correction method of claim 2, wherein said determining a thickness with respect to said target plane based on said point cloud comprises: Extracting a normal scanning point cloud point set corresponding to the target plane from the point cloud; extracting a reverse scanning point cloud point set corresponding to the target plane from the point cloud; And determining the thickness related to the target plane based on the positive scanning point cloud point set and the negative scanning point cloud point set.
  4. 4. The point cloud correction method according to claim 1, characterized in that said controlling said lidar to perform a point cloud correction operation based on said target gain coefficient includes: acquiring a preset correction model, wherein the correction model is used for compensating pitching deviation of the laser radar caused by the change of the direction of a slow axis driving current, and the slow axis driving current is used for driving the galvanometer device to rotate around a slow axis; Inputting the target gain coefficient into the correction model to obtain a target pitch compensation value; Acquiring a point cloud compensation model, wherein the point cloud compensation model is used for correcting the point cloud deviation of the target point cloud due to the pitching deviation; and inputting the target pitching compensation value into the point cloud compensation model to correct the target point cloud, so as to obtain corrected target point cloud.
  5. 5. The method of point cloud correction according to claim 4, wherein the obtaining a preset correction model includes: acquiring a fast axis feedback signal; generating an ideal slow axis feedback signal based on the fast axis feedback signal; acquiring a real slow-axis feedback signal, wherein the real slow-axis feedback signal, the fast-axis feedback signal and the ideal slow-axis feedback signal are all associated with the gain coefficient; and generating a correction model based on the ideal slow-axis feedback signal and the real slow-axis feedback signal.
  6. 6. The point cloud correction method of claim 5, wherein said generating a correction model based on said ideal slow axis feedback signal and said real slow axis feedback signal comprises: subtracting the ideal slow-axis feedback signal from the real slow-axis feedback signal to obtain a slow-axis feedback difference value; And generating a correction model based on the slow axis feedback difference value.
  7. 7. The method of point cloud correction as claimed in claim 4, wherein said obtaining a point cloud compensation model comprises: Acquiring a rotation matrix corresponding to a pitching direction, wherein the rotation matrix is a matrix related to a pitching compensation value; acquiring a laser emergent vector of the laser radar; and generating a point cloud compensation model based on the rotation matrix and the laser emergent vector.
  8. 8. The method according to any one of claims 1 to 7, wherein the acquiring the point cloud data set of forward and backward scanning of the target plane by the lidar includes: controlling the laser radar to perform forward and backward scanning on a target plane according to a preset gain stepping value to obtain a point cloud; And combining all the point clouds to obtain a point cloud data set.
  9. 9. A computer device comprising a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor, when executing the one or more computer programs, causing the computer device to implement the point cloud correction method of any of claims 1-8.
  10. 10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the point cloud correction method according to any of claims 1-8.

Description

Point cloud correction method, computer device and computer readable storage medium Technical Field The embodiment of the application relates to the technical field of point cloud correction, in particular to a point cloud correction method, computer equipment and a computer readable storage medium. Background The laser radar is provided with a galvanometer device, and the laser radar outputs slow axis driving current and fast axis driving current respectively to drive the galvanometer device to move around the slow axis or the fast axis. When the direction of the slow axis driving current is switched, abnormal high-frequency signals are easy to cause, and the abnormal high-frequency signals can lead to distortion of the point cloud of the laser radar in the slow axis scanning direction, so that the accurate and reliable point cloud can not be obtained by the laser radar. Disclosure of Invention An object of an embodiment of the present application is to provide a point cloud correction method, a computer device, and a computer-readable storage medium, which improve the situation that a point cloud of the related art is easily distorted in a slow axis scanning direction. In a first aspect, an embodiment of the application provides a point cloud correction method, which is applied to a laser radar, wherein the laser radar comprises a galvanometer device, the point cloud correction method comprises the steps of obtaining a point cloud data set of the laser radar for carrying out forward and backward scanning on a target plane, wherein the point cloud data set comprises multiple frames of point clouds, each frame of point cloud is obtained by the laser radar for driving the galvanometer device to scan the target plane around a fast axis and a slow axis respectively through different gain coefficients, determining a target gain coefficient based on the point cloud data set, wherein the target gain coefficient is used for controlling the laser radar to correct distortion of the point cloud in the slow axis scanning direction, and controlling the laser radar to execute point cloud correction operation based on the target gain coefficient. The embodiment of the application can determine the target gain coefficient based on the point cloud data set obtained by forward and backward scanning, so that the laser radar adopts the target gain coefficient to correct the distortion of the point cloud in the slow axis scanning direction, the point cloud layering condition during forward and backward scanning of the laser is improved, the calculation precision of the point cloud is improved, the problem of the reduction of the quality of the point cloud caused by the feedback error of a device and the like is solved, and the precision and the stability of the point cloud are improved. In some embodiments, the determining a target gain factor based on the point cloud data set includes determining a thickness with respect to the target plane based on the point cloud, determining a minimum thickness among a plurality of frames of the thickness of the point cloud, and determining a gain factor corresponding to the minimum thickness as a target gain factor. The minimum thickness reflects the deviation between the forward scanning and the backward scanning as the minimum deviation, and the embodiment of the application takes the gain coefficient corresponding to the minimum thickness as the target gain coefficient, and controls the laser radar to correct the point cloud with low deviation and high accuracy according to the target gain coefficient, so that the method and the device are beneficial to improving the resolving precision of the point cloud. In some embodiments, the determining a thickness about the target plane based on the point cloud includes extracting a set of normal-scan point cloud points corresponding to the target plane from the point cloud, extracting a set of reverse-scan point cloud points corresponding to the target plane from the point cloud, and determining a thickness about the target plane based on the set of normal-scan point cloud points and the set of reverse-scan point cloud points. According to the embodiment of the application, the normal-scanning point cloud point set and the reverse-scanning point cloud point set corresponding to the target plane can be respectively segmented from the point cloud, so that the thickness of the target plane can be rapidly and accurately determined by utilizing the normal-scanning point cloud point set and the reverse-scanning point cloud point set. In some embodiments, the controlling the laser radar to perform the point cloud correction operation based on the target gain coefficient includes obtaining a preset correction model, wherein the correction model is used for compensating a pitch deviation generated by the laser radar due to a change of a direction of a slow axis driving current, the slow axis driving current is used for driving the galvanometer device to