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...
Gespeichert in:
Hauptverfasser: | , , , , , , , , , , , |
---|---|
Format: | Patent |
Sprache: | chi ; eng |
Schlagworte: | |
Online-Zugang: | Volltext bestellen |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
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 |
---|