US 2024/0185595 A1 · METHOD FOR EVALUATING QUALITY OF POINT CLOUD MAP BASED ON MATCHING

Abstract

A method for evaluating quality of a point cloud map based on matching includes the following steps: S1, acquiring the to-be-evaluated point cloud map as a point cloud matching algorithm input; S2, acquiring a point cloud sample set for matching; S3, matching by using a point cloud matching algorithm, and iterating to obtain estimated three-dimensional coordinate system transforms; S4, calculating point cloud matching errors; and S5, taking an obtained quality evaluation score of the to-be-evaluated point cloud map as a point cloud matching algorithm output. The method for evaluating the quality of the point cloud map based on matching can evaluate the quality of the point cloud map in a full-automatic manner without the dependence on truth values and artificial calibration, so as to improve the quality evaluation efficiency of the point cloud map.

Claims10

Dependent claims

A method for evaluating a quality of a point cloud map based on matching, comprising the following steps:

S1, acquiring a to-be-evaluated point cloud map as a point cloud matching algorithm input;
S2, acquiring a point cloud sample set for matching;
S3, specific to each point cloud sample in the point cloud sample set, making the point cloud sample matched with the to-be-evaluated point cloud map by a point cloud matching algorithm, and obtaining an estimated three-dimensional coordinate system transform by an iteration with an original three-dimensional coordinate system transform as an initial value;
S4, calculating point cloud matching errors;
and
S5, calculating a quality evaluation score of the to-be-evaluated point cloud map as a point cloud matching algorithm output.

3 more elements

A method for extracting point cloud samples from a point cloud map by simulation, comprising the following steps:

1) simulating a field mapping process, and performing a simulation extraction at an equal interval in a to-be-evaluated point cloud map along a route where a mobile mapping vehicle collects data, to form a series of original three-dimensional coordinate system transforms;
2) establishing a Lidar coordinate system at each of the original three-dimensional coordinate system transforms;
3) consulting a product manual according to a model of a to-be-simulated Lidar, to obtain corresponding product parameters;
4) obtaining an azimuth angle and a pitching angle of each point in the point cloud samples according to the product parameters, and
5) calculating a distance between each point and an origin of the corresponding Lidar coordinate system according to the azimuth angle and the pitching angle of each point in the point cloud samples, to form the point cloud samples.

2 more elements

Dependencies are inferred from the claim text.

Method for evaluating quality of point cloud map based on matching

Life of this patent

Method for evaluating quality of point cloud map based on matching

Life of this patent

Abstract

Claims10