Tunnel detection method and device based on laser radar, storage medium and electronic equipment

The invention provides a tunnel detection method and device based on a laser radar, a storage medium and electronic equipment. The method comprises the following steps: setting a first reference point and a second reference point; scanning to obtain a point cloud, obtaining a first distortion point...

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Bibliographische Detailangaben
Hauptverfasser: LIANG WENQIN, HU PENG, LI CHEN, FAN DONGBO, LI DINGYOU, GAO QUAN, ZHOU DALIN, LI XINYAO, SUN YONGXING, LI QIANG, WEI RENKAI, ZHU PINGHUA
Format: Patent
Sprache:chi ; eng
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Beschreibung
Zusammenfassung:The invention provides a tunnel detection method and device based on a laser radar, a storage medium and electronic equipment. The method comprises the following steps: setting a first reference point and a second reference point; scanning to obtain a point cloud, obtaining a first distortion point and a second distortion point in the point cloud, and recording a timestamp; calculating a reference vector, and calculating a first distortion vector to obtain a distortion error; recording motion state data of the laser radar vehicle; taking the data as training data, and training a distortion detection model; a third distortion point is obtained, a second distortion vector is obtained, the distortion error of the second distortion vector is detected, distortion compensation is carried out, and a first compensation vector is obtained; setting a matching degree threshold value, calculating the matching degree of the first compensation vector and the reference vector, if the matching degree reaches the matching deg