Integral three-dimensional color laser radar data point cloud generating method and device thereof

• Main Authors: WANG YIJUN, SONG QUANJUN, LIU HAI, SUN YUPING, LI SHUAI, SUN YUXIANG, SHUANG FENG, GAO LIFU, GAO FANG, GE YUNJIAN, LI YANGMING
• Format: Patent
• Language: Chinese; English
• Published: 18.09.2013
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention solves the problems such as feature extraction, asynchronization and synchronization, feature relevance and data difference value to fuse visual data and laser radar data so as to generate three-dimensional color depth image data, namely a three-dimensional color laser data point cloud, thereby providing precise distance information and rich environment information, effectively overcoming the defects of the traditional laser radar and the visual sensor in the aspects of robustness, information amount, precision and cost. The invention integrates a two-dimensional laser radar, a monocular vision sensor, an inertial navigation data measuring unit, a driving motor and the like into an information fusion-based three-dimensional color laser radar integral unit with universal applicability and high precision, and utilizes inertial navigation data and visual data to perform secondary alignment on laser radar data, the structure is simple, equipment does not need to be subjected to precise calibration,