Position detecting method, device and storage medium for vehicle ladar

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;
• and
• judge, according to the point cloud image, whether an installation position of the ladar is accurate,
• wherein the processor is further configured to:
• obtain spacings between adjacent concentric circles of a plurality of concentric circles formed by point clouds in the point cloud image;
• judge whether the spacings between the adjacent concentric circles of the plurality of concentric circles are consistent;
• determine that the installation position of the ladar is accurate if the spacings between the adjacent concentric circles of the plurality of concentric circles are consistent;
• and
• determine that the installation position of the ladar is inaccurate if the spacings between the adjacent concentric circles of the plurality of concentric circles are inconsistent.

A storage 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;
• and
• judging, according to the point cloud image, whether an installation position of the ladar is accurate,
• wherein the storage medium further comprises computer execution instruction which, when executed by a processor, implements the steps of:
• obtaining spacings between adjacent concentric circles of a plurality of concentric circles formed by point clouds in the point cloud image;
• judging whether the spacings between the adjacent concentric circles of the plurality of concentric circles are consistent;
• determining that the installation position of the ladar is accurate if the spacings between the adjacent concentric circles of the plurality of concentric circles are consistent;
• and
• determining that the installation position of the ladar is inaccurate if the spacings between the adjacent concentric circles of the plurality of concentric circles are inconsistent.