Method and apparatus for adjusting point cloud data acquisition trajectory, and computer readable medium

Patent metadata

Field	Value
Publication number	US-11067669-B2
Application number	US-201816232756-A
Country	US
Kind code	B2
Filing date	Dec 26, 2018
Priority date	Dec 29, 2017
Publication date	Jul 20, 2021
Grant date	Jul 20, 2021

Abstract

Embodiments of the present disclosure can include a method and apparatus for adjusting a point cloud data acquisition trajectory, and a computer readable medium. According to the embodiments of the present disclosure, a trajectory may be adjusted based on a characteristic extracted from point cloud data. A parameter that needs to be adjusted may be selected according to the property of the characteristic, instead of adjusting all parameters at the same time. In addition, according to the embodiments of the present disclosure, when trajectories are fused, the sequence relationships between the trajectory points in the trajectories can be considered, which avoids that a loop cannot be closed.

First claim

What is claimed is:

1. A method for adjusting a point cloud data acquisition trajectory, comprising:
acquiring, in response to first point cloud data and second point cloud data acquired by a mobile entity including matching characteristics, a first trajectory used by the mobile entity to acquire the first point cloud data and a second trajectory used by the mobile entity to acquire the second point cloud data;
determining a to-be-adjusted parameter set of trajectory points in the first trajectory based on the matching characteristics, the first trajectory, and the second trajectory, the determining comprising:
comparing parameters of trajectory points in the first trajectory associated with the matching characteristics with parameters of trajectory points in the second trajectory associated with the matching characteristics, and
determining the parameters of the trajectory points in the first trajectory having differences with the parameters of the trajectory points in the second trajectory that are greater than a threshold for the to-be-adjusted parameter set to obtain the to-be-adjusted parameter set of trajectory points in the first trajectory; and

fusing the first trajectory and the second trajectory by adjusting the to-be-adjusted parameters in the to-be-adjusted parameter set of the trajectory points,
wherein the method is performed by at least one processor.

2. The method according to claim 1 , wherein the determining the to-be-adjusted parameter set of trajectory points in the first trajectory further comprises:
determining, in response to the matching characteristics being ground characteristics, the to-be-adjusted parameter set of trajectory points to be a ground parameter set, wherein the ground parameter set includes at least one of: a Z-axis parameter, a parameter of a pitch angle rotating around an X-axis, or a parameter of a roll angle rotating around a Z-axis in a Cartesian coordinate system, wherein the X-axis represents a direction parallel to the ground, and the Z-axis represents a direction perpendicular to the ground.

3. The method according to claim 1 , wherein the determining the to-be-adjusted parameter set of trajectory points in the first trajectory further comprises:
determining, in response to the matching characteristics being cylindrical object characteristics, the to-be-adjusted parameter set of trajectory points to be a cylindrical object parameter set, wherein the cylindrical object parameter set includes at least one of: an X-axis parameter, or a Y-axis parameter in a Cartesian coordinate system, wherein the X-axis represents a direction parallel to the ground, and the Y-axis represents a direction parallel to the ground and perpendicular to the X-axis.

4. The method according to claim 1 , wherein the determining the to-be-adjusted parameter set of trajectory points in the first trajectory further comprises:
determining, in response to the matching characteristics being planar characteristics, the to-be-adjusted parameter set of trajectory points to be a planar parameter set, wherein the planar parameter set includes at least one of: an X-axis parameter, an Y-axis parameter, or a parameter of a yaw angle rotating around a Y-axis in a Cartesian coordinate system, wherein the X-axis represents a direction parallel to the ground, and the Y-axis represents a direction parallel to the ground and perpendicular to the X-axis.

5. The method according to claim 1 , wherein the fusing the first trajectory and the second trajectory comprises:
fusing the first trajectory and the second trajectory based on a sequence relationship between trajectory points in the first trajectory and a sequence relationship between trajectory points in the second trajectory.

6. The method according to claim 1 , wherein the acquiring the first trajectory and the second trajectory comprises:
acquiring a first characteristic associated with the first point cloud data and a second characteristic associated with the second point cloud data; and
determining, in response to a difference between the first characteristic and the second characteristic being less than a threshold difference, the first point cloud data and the second point cloud data including the matching characteristics.

7. An apparatus for adjusting a point cloud data acquisition trajectory, comprising:
at least one processor; and
a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
acquiring, in response to first point cloud data and second point cloud data acquired by a mobile entity including matching characteristics, a first trajectory used by the mobile entity to acquire the first point cloud data and a second trajectory used by the mobile entity to acquire the second point cloud data;
determining a to-be-adjusted parameter set of trajectory points in the first trajectory based on the matching characteristics, the first trajectory, and the second trajectory, the determining comprising:
comparing parameters of trajectory points in the first trajectory associated with the matching characteristics with parameters of trajectory points in the second trajectory associated with the matching characteristics, and
determining the parameters of the trajectory points in the first trajectory having differences with the parameters of the trajectory points in the second trajectory that are greater than a threshold for the to-be-adjusted parameter set to obtain the to-be-adjusted parameter set of trajectory points in the first trajectory; and

fusing the first trajectory and the second trajectory by adjusting the to-be-adjusted parameters in the to-be-adjusted parameter set of the trajectory points.

8. The apparatus according to claim 7 , wherein determining the to-be-adjusted parameter set of trajectory points in the first trajectory further comprises:
determining, in response to the matching characteristics being ground characteristics, the to-be-adjusted parameter set of trajectory points to be a ground parameter set, wherein the ground parameter set includes at least one of: a Z-axis parameter, a parameter of a pitch angle rotating around an X-axis, or a parameter of a roll angle rotating around a Z-axis in a Cartesian coordinate system, wherein the X-axis represents a direction parallel to the ground, and the Z-axis represents a direction perpendicular to the ground.

9. The apparatus according to claim 7 , wherein determining the to-be-adjusted parameter set of trajectory points in the first trajectory further comprises:
determining, in response to the matching characteristics being cylindrical object characteristics, the to-be-adjusted parameter set of trajectory points to be a cylindrical object parameter set, wherein the cylindrical object parameter set includes at least one of: an X-axis parameter, or a Y-axis parameter in a Cartesian coordinate system, wherein the X-axis represents a direction parallel to the ground, and the Y-axis represents a direction parallel to the ground and perpendicular to the X-axis.

10. The apparatus according to claim 7 , wherein determining the to-be-adjusted parameter set of trajectory points in the first trajectory further comprises:
determining, in response to the matching characteristics being planar characteristics, the to-be-adjusted parameter set of trajectory points to be a planar parameter set, wherein the planar parameter set includes at least one of: an X-axis parameter, an Y-axis parameter, or a parameter of a yaw angle rotating around a Y-axis in a Cartesian coordinate system, wherein the X-axis represents a direction parallel to the ground, and the Y-axis represents a directi

Assignees

• Baidu online network technology beijing co ltd

Inventors

• Yan Miao
• Zhan Yifei
• Lang Xianpeng
• Zhou Wang
• Duan Xiong
• Ma Changjie

Classifications

• G05D2111/10

  Optical signals · CPC title

• G01S7/4808 Primary

  Evaluating distance, position or velocity data · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01C21/3811 Primary

  Point data, e.g. Point of Interest [POI] · CPC title

• B60W30/10

  Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} · CPC title