基于多层激光雷达的3D虚拟环境感知系统

3D virtual environment perception system based on multilayer lidar

为了提高不同距离、不同视觉角度环境感知准确度,提出基于多层激光雷达的3D虚拟环境感知系统。系统硬件方面,将高性能计算机作为此次设计系统核心,设计系统硬件结构。软件方面,选择HDL-32E32线激光雷达,变换激光雷达点云数据点坐标系,获取3D虚拟环境点云数据,设计数据点提取和聚类算法,提取、聚类数据点,采用最小二乘法,多层拟合数据点,提取3D虚拟环境信息;将3D虚拟环境分为不同的感知层次,设计单层次环境感知策略,实现3D虚拟环境感知。依据真实街道环境,建立3D虚拟街道环境,设计实验方法,环境感知结果:此次设计系统感知不同距离、不同视觉角度环境范围小,3D虚拟环境感知精度最高可达99.32%,3D虚拟环境感知误差最低仅为3.56%。

In order to improve the accuracy of environment perception at different distances and different visual angles,a 3D virtual environment perception system based on multilayer lidar is proposed.In terms of system hardware,the high-performance computer is taken as the core of the design system,and the system hardware structure is designed.In terms of software,HDL-32E32 line lidar is selected,the lidar point cloud data point coordinate system is transformed,the 3D virtual environment point cloud data is obtained,the data point extraction and clustering algorithm is designed,the data points are extracted and clustered,and the least square method is used to multi-layer fit the data points to extract the 3D virtual environment information;The 3D virtual environment is divided into different perception levels,and a single-level environment perception strategy is designed to realize the perception of 3D virtual environment.According to the real street environment,the 3D virtual street environment is established,the experimental methods are designed,and the environmental perception results:the design system senses the environment with different distances and different visual angles in a small range.The maximum perception accuracy of 3D virtual environment is 99.32%,and the minimum perception error of 3D virtual environment is only 3.56%.