Method and apparatus for constructing reflectance map

An apparatus for constructing a reflectance map, comprising:

• at least one processor;
• and
• a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• selecting, from laser point clouds collected in a region corresponding to a to-be-constructed reflectance map, laser point clouds used for constructing a reflectance map, and selecting sample frame laser point clouds from the laser point clouds used for constructing the reflectance map;
• selecting key frame laser point clouds from the sample frame laser point clouds, and determine an optimal key frame laser point cloud based on adjustment amounts of the key frame laser point clouds, each of the adjustment amounts being determined based on an amount of movement between a center position of a laser radar corresponding to a key frame laser point cloud after being merged with a second key frame laser point cloud and a center position of the laser radar corresponding to the key frame laser point cloud;
• performing a global pose optimization on laser point clouds other than the optimal key frame laser point cloud in the laser point clouds used for constructing the reflectance map, to obtain a position and an Euler angle, used for constructing the reflectance map, of a center of the laser radar corresponding to each frame laser point clouds used for constructing the reflectance map;
• and
• constructing the reflectance map based on the position and the Euler angle, used for constructing the reflectance map, of the center of the laser radar corresponding to each frame laser point clouds used for constructing the reflectance map.

A computer readable storage medium storing a computer program, the program, when run by a processor, causing the processor to perform operations, the operations comprising:

• selecting, from laser point clouds collected in a region corresponding to a to-be-constructed reflectance map, laser point clouds used for constructing a reflectance map, and selecting sample frame laser point clouds from the laser point clouds used for constructing the reflectance map;
• selecting key frame laser point clouds from the sample frame laser point clouds, and determining an optimal key frame laser point cloud based on adjustment amounts of the key frame laser point clouds, each of the adjustment amounts being determined based on an amount of movement between a center position of a laser radar corresponding to a key frame laser point cloud after being merged with a second key frame laser point cloud and a center position of the laser radar corresponding to the key frame laser point cloud;
• performing a global pose optimization on laser point clouds other than the optimal key frame laser point cloud in the laser point clouds used for constructing the reflectance map, to obtain a position and an Euler angle, used for constructing the reflectance map, of a center of the laser radar corresponding to each frame laser point clouds used for constructing the reflectance map;
• and
• constructing the reflectance map based on the position and the Euler angle, used for constructing the reflectance map, of the center of the laser radar corresponding to each frame laser point clouds used for constructing the reflectance map.