Position detecting method, device and storage medium for vehicle ladar
View Patent ↗The present application provides a position detecting method, device and storage medium for a vehicle ladar, where the method includes: detecting, through a ladar disposed on an autonomous vehicle, detection data of at least one wall of an interior room in which the autonomous vehicle is located, obtaining a point cloud image according to the detection data of the at least one wall, and judging, according to the point cloud image, whether an installation position of the ladar is accurate. According to the technical solution, it is possible to accurately detect whether the installation position of the ladar is accurate, provide a prerequisite for calibration of the installation position of the ladar, and improve detection accuracy of the ladar for obstacles around the autonomous vehicle.
1. A position detecting method for a vehicle ladar, comprising:
detecting, through a ladar disposed on an autonomous vehicle, detection data of at least one wall of an interior room in which the autonomous vehicle is located;
obtaining, according to the detection data of the at least one wall, a point cloud image;
presenting the point cloud image in a visualization interface; and
judging, according to the shape of the point cloud image in the visualization interface or the positional relationship with the visualization interface, whether an installation position of the ladar is accurate,
wherein the judging, according to the shape of the point cloud image in the visualization interface or the positional relationship with the visualization interface, whether the installation position of the ladar is accurate comprises:
judging whether each wall shown by the point cloud image is parallel to a boundary of the visualization interface on the same side as the wall;
determining that the installation position of the ladar is accurate if each wall shown by the point cloud image is parallel to the boundary of the visualization interface on the same side as the wall; and
determining that the installation position of the ladar is inaccurate if there is a wall among all walls shown in the point cloud image that is not parallel to the boundary of the visualization interface on the same side as the wall.
2. The method according to claim 1 , wherein after the judging, according to the shape of the point cloud image in the visualization interface or the positional relationship with the visualization interface, whether the installation position of the ladar is accurate, the method further comprises:
if it is determined that the installation position of the ladar is inaccurate, adjusting a rotation axis of the ladar to calibrate the installation position of the ladar.
3. A position detecting device for a vehicle ladar, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, being configured to:
detect, through a ladar disposed on an autonomous vehicle, detection data of at least one wall of an interior room in which the autonomous vehicle is located;
obtain, according to the detection data of the at least one wall, a point cloud image;
present the point cloud image in a visualization interface; and
judge, according to the shape of the point cloud image in the visualization interface or the positional relationship with the visualization interface, whether an installation position of the ladar is accurate,
wherein the processor is further configured to:
judge whether each wall shown by the point cloud image is parallel to a boundary of the visualization interface on the same side as the wall;
determine that the installation position of the ladar is accurate if each wall shown by the point cloud image is parallel to the boundary of the visualization interface on the same side as the wall; and
determine that the installation position of the ladar is inaccurate if there is a wall among all walls shown in the point cloud image that is not parallel to the boundary of the visualization interface on the same side as the wall.
4. The device according to claim 3 , wherein the processor is further configured to:
if it is determined that the installation position of the ladar is inaccurate, adjust a rotation axis of the ladar to calibrate the installation position of the ladar.
5. A non-transitory computer-readable medium having stored therein an instruction which, when executed by a computer, implements the steps of:
detecting, through a ladar disposed on an autonomous vehicle, detection data of at least one wall of an interior room in which the autonomous vehicle is located;
obtaining, according to the detection data of the at least one wall, a point cloud image;
presenting the point cloud image in a visualization interface; and
judging, according to the shape of the point cloud image in the visualization interface or the positional relationship with the visualization interface, whether an installation position of the ladar is accurate,
wherein the non-transitory computer-readable medium further comprises computer execution instruction which, when executed by a processor, implements the steps of:
judging whether each wall shown by the point cloud image is parallel to a boundary of the visualization interface on the same side as the wall;
determining that the installation position of the ladar is accurate if each wall shown by the point cloud image is parallel to the boundary of the visualization interface on the same side as the wall; and
determining that the installation position of the ladar is inaccurate if there is a wall among all walls shown in the point cloud image that is not parallel to the boundary of the visualization interface on the same side as the wall.
6. The non-transitory computer-readable medium according to claim 5 , wherein the non-transitory computer-readable medium further comprises computer execution instruction which, when executed by a processor, implements the step of:
if it is determined that the installation position of the ladar is inaccurate, adjusting a rotation axis of the ladar to calibrate the installation position of the ladar.