The invention discloses a dynamic and static estimation method and device for a low-speed or static object and a mobile device, and the method comprises the steps: S1, obtaining original point clouds of a front detection frame and a rear detection frame through a laser radar sensor; s2, acquiring an obstacle target frame obtained after detection, and finding out a rigid body point cloud cluster of a related point cloud connected domain as an obstacle by taking a point cloud in an envelope frame as a seed point; s3, eliminating the observation error of the own vehicle through coordinate transformation, and transforming the point cloud at the next moment to the coordinate system by taking the coordinate system of the other vehicle at the previous moment as a reference; s4, calculating the optimal transformation of the grid clusters of the front and back frames; and S5, judging whether the obstacle moves or not based on the optimal transformation result obtained in the step S4. According to the method, the motion state of the obstacle is estimated very accurately, the resolving result of the static obstacle is close to 0, and on the contrary, as long as the obstacle moves, even if the obstacle is very tiny, the result can be reflected; meanwhile, the resolving result, namely the movement displacement and orientation of the moving target, can also be used as an input source for calculating the differential speed.
本发明公开了一种低速或静止物体的动静态估计方法、设备及移动装置,该方法包括:S1:通过激光雷达传感器,获取前后检测帧的原始点云;S2:获取检测后得到的障碍物目标框,以包络框内点云为种子点,找到相关点云连通域作为障碍物的刚体点云簇;S3:通过坐标变换消除自车观测误差,以前一时刻的他车坐标系为基准,将后一时刻的点云变换到该坐标系下;S4:计算前后帧的网格簇的最优变换;S5:基于步骤S4获得的最优变换结果,判断障碍物是否发生运动。本发明对障碍物运动状态估计非常准确,静止的障碍物的解算结果接近0,相反地,只要产生了运动,即使非常微小,也会在结果上面有所反映;同时,解算结果即运动目标的运动位移和朝向,也可以作为计算差分速度的输入源。
Dynamic and static estimation method and equipment for low-speed or static object and mobile device
低速或静止物体的动静态估计方法、设备及移动装置
2025-02-28
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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