Three-dimensional laser radar synchronous mapping and positioning method and system fused with point cloud intensity

• Main Authors: LI WENZHUO, ZHANG XING, LI BIJUN, QIAN CHUANG, ZHANG HONGJUAN
• Format: Patent
• Language: Chinese; English
• Published: 01.09.2023
• 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 provides a point cloud intensity fused three-dimensional laser radar synchronous mapping and positioning method and system, and the method comprises the steps: carrying out the preprocessing of point cloud data collected by a 3D LiDAR, and obtaining the preprocessed point cloud data; performing 2D projection on the preprocessed point cloud data to obtain a point cloud depth map and a point cloud intensity map, and extracting point cloud geometric features and intensity features based on the point cloud depth map and the point cloud intensity map; carrying out adaptive fixed weight fusion on a point cloud geometric feature matching result and an intensity feature matching result in good time; on the basis of cylindrical projection and spatial density distribution of the point cloud intensity, global descriptor point cloud intensity projection shape features are constructed, and the loopback detection effect is improved; and optimizing the historical track pose and the point cloud map based on the