The invention discloses a laser mapping method and device and a laser positioning method and device, and the laser mapping method comprises the steps: obtaining first image data and first laser point cloud data collected by a first vehicle in a preset operation region, and carrying out the fusion of the first image data and the first laser point cloud data through a preset fusion algorithm, and obtaining a first fusion result; determining a target in the first laser point cloud data and a corresponding target type according to the first fusion result; pre-processing the target in the first laser point cloud data by using a preset pre-processing strategy according to the target type corresponding to the target to obtain pre-processed first laser point cloud data; and constructing a point cloud map of the preset operation area according to the preprocessed first laser point cloud data and the corresponding post-processing positioning data. According to the method, the image data and the laser point cloud data are fused for target recognition, the target recognition precision is improved, different preprocessing operations are adopted for the laser point cloud data for different target types, and the laser mapping and positioning precision is improved.
本申请公开了一种激光建图方法及其装置、激光定位方法及其装置,该激光建图方法包括:获取第一车辆在预设运营区域采集的第一图像数据和第一激光点云数据,并利用预设融合算法对二者进行融合,得到第一融合结果;根据第一融合结果确定第一激光点云数据中的目标及对应的目标类型;根据目标对应的目标类型,利用预设预处理策略对第一激光点云数据中的目标进行预处理,得到预处理后的第一激光点云数据;根据预处理后的第一激光点云数据及对应的后处理定位数据构建预设运营区域的点云地图。本申请将图像数据和激光点云数据融合进行目标识别,提高了目标识别精度,针对不同的目标类型对激光点云数据采取不同的预处理操作,提高了激光建图和定位精度。
Laser mapping method, laser mapping device, laser positioning method and laser positioning device
激光建图方法及其装置、激光定位方法及其装置
2023-08-04
Patent
Electronic Resource
Chinese
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