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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| creator | LIANG WENQIN HU PENG LI CHEN FAN DONGBO LI DINGYOU GAO QUAN ZHOU DALIN LI XINYAO SUN YONGXING LI QIANG WEI RENKAI ZHU PINGHUA |
| description | 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 |
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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</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| 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 |
| title | Tunnel detection method and device based on laser radar, storage medium and electronic equipment |
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