Speed prediction method fusing camera image and airborne laser radar point cloud data

• Main Authors: DU LIBIN, MA YUNGE, LI ZHENGBAO, YANAGISAWA, TADASHI, GAO JIE, JIA XUAN
• Format: Patent
• Language: Chinese; English
• Published: 12.09.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses a speed prediction method fusing camera images and airborne laser radar point cloud data, belongs to the technical field of laser radar measurement and electric digital data processing, is used for speed prediction of point cloud data, and comprises the steps of data preprocessing, synchronization and calibration of an inertial navigation system, a laser radar and an aerial camera, and speed prediction of the point cloud data. Carrying out self-motion correction on the sensor, carrying out image correction on acquired detection data, and then carrying out measurement association on self-motion correction and image correction results; speed estimation and target tracking are carried out, laser radar point cloud optimization is carried out, the optimized point cloud is imported into frame optimization, and speed estimation is carried out again. The limitation of the angular resolution of the laser radar is broken through, and the point cloud data precision is improved; distortion caused