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EP-4130651-B1 - DATA ACQUISITION DEVICE, DATA CORRECTION METHOD AND APPARATUS, AND ELECTRONIC DEVICE

EP4130651B1EP 4130651 B1EP4130651 B1EP 4130651B1EP-4130651-B1

Inventors

  • SHENG, Zhe
  • DONG, Zilong
  • TAN, Ping

Dates

Publication Date
20260513
Application Date
20210323

Claims (15)

  1. A data acquisition device (100), comprising: a rotation module (101) arranged below the data acquisition device, the rotation module configured to drive the data acquisition device (100) to rotate in a first direction; a first ranging module (102) arranged on a first side of the data acquisition device, the first ranging module configured to: rotate in the first direction along with the data acquisition device, rotate in a second direction, and measure first ranging data, the first direction being different from the second direction; a second ranging module arranged on a second side of the data acquisition device, wherein a plane on which the first side is located intersects with a plane on which the second side is located, the second ranging module configured to obtain second ranging data, wherein a ranging error of the second ranging module is less than a ranging error of the first ranging module; and an image acquisition module (103) configured to rotate in the first direction along with the data acquisition device and acquire image data in a three-dimensional scene, wherein a lens direction of the image acquisition module is opposite to a ranging direction of the second ranging module.
  2. The data acquisition device (100) according to claim 1, wherein the first direction and the second direction are perpendicular to each other.
  3. The data acquisition device (100) according to claim 1 or 2, wherein in a process of the rotation module driving the data acquisition device to rotate for one cycle in the first direction, the second ranging module rotates in the first direction to measure the second ranging data.
  4. The data acquisition device (100) according to any one of claims 1, 2, or 3, wherein: the first ranging module (102) and the second ranging module are laser ranging modules.
  5. The data acquisition device (100) according to any one of claims 1 to 4, wherein a lens center of the image acquisition module (103) is located on an extension line of a rotation axis of the rotation module.
  6. The data acquisition device (100) according to any one of claims 1 to 5, wherein the image acquisition module (103) is configured to acquire the image data after rotating to a preset rotation angle in the first direction.
  7. The data acquisition device (100) according to claim 1, wherein the first ranging module (102) is a single-line laser radar.
  8. The data acquisition device (100) according to claim 1, comprising a micro control unit and a main control unit, wherein: the micro control unit is connected to the rotation module (101), the first ranging module (102), and the second ranging module, the micro control unit is configured to control the rotation module (101) and obtain a rotation angle of the rotation module, the first ranging data, and the second ranging data in real time, and the micro control unit is configured to: perform time synchronization on the rotation angle, the first ranging data, and the second ranging data that are obtained, and then output the rotation angle, the first ranging data, and the second ranging data to the main control unit, and the main control unit is connected to the image acquisition module (103) and is configured to obtain the image data from the image acquisition module and process the rotation angle, the first ranging data, and the second ranging data received from the micro control unit according to the first ranging data.
  9. The data acquisition device (100) according to claim 8, wherein the main control unit is configured to obtain omnidirectional point cloud data in the three-dimensional scene by processing a plurality of sets of the first ranging data, the omnidirectional point cloud data comprising three-dimensional spatial coordinates of a measured point on an object surface in the three-dimensional scene, and the plurality of sets of the first ranging data comprising data acquired by the first ranging module (102) by rotating for one cycle in the first direction along with the data acquisition device (100) and rotating for a plurality of cycles in the second direction.
  10. The data acquisition device (100) according to claim 8 or 9, wherein the main control unit is configured to perform error correction on the omnidirectional point cloud data using the second ranging data by: obtaining, by the main control unit, first point cloud data according to the second ranging data, wherein the first point cloud data comprises three-dimensional spatial coordinates of a target point on an object surface corresponding to the second ranging data; obtaining, by the main control unit, second point cloud data corresponding to the target point from the omnidirectional point cloud data; determining, by the main control unit, error data according to the first point cloud data and the second point cloud data; and correcting the omnidirectional point cloud data according to the error data.
  11. The data acquisition device (100) according to claim 8 or 9, wherein the main control unit is configured to process the image data to obtain a corresponding panoramic image.
  12. The data acquisition device (100) according to claim 9, wherein the main control unit is configured to process the omnidirectional point cloud data and the image data to obtain a three-dimensional scene model.
  13. A computer-implemented data correction method, comprising: obtaining first ranging data and second ranging data (S601), wherein the first ranging data and the second ranging data are respectively acquired by the first ranging module and the second ranging module on the data acquisition device according to any one of claims 1 to 12; obtaining first point cloud data according to the second ranging data (S602), wherein the first point cloud data comprises three-dimensional spatial coordinates of a target point on an object surface corresponding to the second ranging data; obtaining second point cloud data corresponding to the target point from the omnidirectional point cloud data (S603); determining error data according to the first point cloud data and the second point cloud data (S604); and correcting the omnidirectional point cloud data according to the error data (S604).
  14. A computer-readable storage medium (700), storing computer instructions which, when executed by a processor (701) of a device, cause the device to execute the method according to claim 13.
  15. A data correction apparatus, comprising: a first obtaining module, configured to obtain first ranging data and second ranging data, wherein the first ranging data and the second ranging data are respectively acquired by the first ranging module (102) and the second ranging module on the data acquisition device (100) according to any of claims 1 to 12; a second obtaining module, configured to obtain first point cloud data according to the second ranging data, wherein the first point cloud data comprises three-dimensional spatial coordinates of a target point on an object surface corresponding to the second ranging data; an extraction module, configured to obtain second point cloud data corresponding to the target point from the omnidirectional point cloud data; and a determining module, configured to determine error data according to the first point cloud data and the second point cloud data, and correct the omnidirectional point cloud data according to the error data.

Description

TECHNICAL FIELD The present disclosure relates to the field of computer technologies, and in particular, to a data acquisition device, a data correction method and apparatus, and an electronic device. BACKGROUND Three-dimensional reconstruction technology is one of the research hotspots in the field of computer vision in industry and academia. According to different objects to be reconstructed, three-dimensional reconstruction may be divided into three-dimensional reconstruction of objects, three-dimensional reconstruction of scenes, three-dimensional reconstruction of human bodies, and the like. For three-dimensional reconstruction of scenes, a three-dimensional scene acquisition device in the related art usually uses a depth camera to acquire images and depth information of a surrounding environment. The three-dimensional scene acquisition device is equipped with three depth cameras, that is, head-up, down-view, and up-view cameras, to acquire depth images and color images respectively. The bottom of the three-dimensional scene acquisition device is equipped with a rotating motor, so that the three-dimensional scene acquisition device can rotate in the horizontal direction. In addition, scene pictures are captured by the depth cameras during the rotation. In this manner, a plurality of color images and a plurality of depth images can be acquired at one acquisition point, and an actual distance of an object corresponding to a pixel can be obtained from a depth image. However, data acquired in this manner has a relatively large depth error, and the depth range is limited. Therefore, this manner is not suitable for relatively open scenes such as outdoor. JP H06 147844 discloses a measurement apparatus comprising a laser-based distance measurement device, a gimbal and a camera. The gimbal drives the laser-based distance measurement device to rotate in a horizontal angle direction and in a pitch angle direction. The measurement device performs continuous distance measurement. The camera is mounted on the gimbal capable of driving horizontal angle and pitch angle rotations, and is parallel to an optical axis of the measurement device. An image captured by the camera is displayed. DE 11 2016 006213 discloses a method comprising acquiring a first and second measurement value sets of a scenario measured by first and second sensors, respectively, wherein the resolution of the first sensor is lower than the resolution of the second sensor. The first and second sensors are jointly calibrated, and the first and second measurement value sets are fused. The method further comprises generating calibration parameters used to define a geometric mapping between a coordinate system of the first and second sensors, and a fused measurement value set having the modality of the first sensor, and jointly performing calibration and fusion. SUMMARY The embodiments of the present disclosure provide a data acquisition device, a data correction method and apparatus, and an electronic device. According to a first aspect, an embodiment of the present disclosure provides a data acquisition device, including: a rotation module, a first ranging module, and an image acquisition module, where the rotation module is configured to drive the data acquisition device to rotate in a first direction;the first ranging module is configured to rotate in the first direction along with the data acquisition device, is further configured to rotate in a second direction, and is further configured to measure first ranging data, the first direction being different from the second direction; andthe image acquisition module is configured to rotate in the first direction along with the data acquisition device, and is further configured to acquire image data in a three-dimensional scene. Further, the first direction and the second direction are perpendicular to each other. According to the invention, the data acquisition device further includes a second ranging module, configured to obtain second ranging data, where a ranging error of the second ranging module is less than a ranging error of the first ranging module. Further, in a process in which the rotation module drives the data acquisition device to rotate for one cycle in the first direction, the second ranging module rotates in the first direction to measure the second ranging data. According to the invention, the rotation module is arranged below the data acquisition device, the first ranging module is arranged on a first side of the data acquisition device, the second ranging module is arranged on a second side of the data acquisition device, and a plane on which the first side is located is perpendicular to a plane on which the second side is located; and a lens direction of the image acquisition module is opposite to a ranging direction of the second ranging module. Further, the first ranging module and the second ranging module are both laser ranging modules. Further, the first ranging module is a si