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1.发明公开公开(公告)号：US20240037707A1
公开(公告)日：2024-02-01
申请号：US18255164
申请日：2022-04-21
发明人： Jiawei Shan , Ruitong Zheng , Shiwei Wang , Luofeng Shen , Hongpeng Li
CPC分类号： G06T5/50 , G06T17/00 , G06T7/90 , G06V10/56 , G01S17/89 , G06T2207/10024 , G06T2207/20221
摘要： An image fusion method based on image and LiDAR point cloud, comprises: acquiring a first image and sparse point cloud data (S10), point cloud data comprised in each channel of the sparse point cloud data corresponding to pixels comprised in the first image respectively, and the sparse point cloud data and the first image having space and time synchronicity; obtaining a target gradient value corresponding to at least one target pixel comprised in the first image according to the first image (S12), the target pixel being a non-edge pixel of the first image; up-sampling the sparse point cloud data based on at least one target gradient value to obtain dense point cloud data (S14), the target gradient value being determined according to a corresponding target pixel between adjacent channels of the sparse point cloud data; and obtaining a target fusion image based on the first image and the dense point cloud data (S16). By the method, a calculation amount is reduced, and a resolution of the point cloud data is improved.
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公开(公告)号：US12092765B2
公开(公告)日：2024-09-17
申请号：US18253910
申请日：2022-01-25
发明人： Hongpeng Li , Ruitong Zheng , Zhengjie Zhang , Shiwei Wang , Luofeng Shen , Feifei Shi
CPC分类号： G01S7/4817 , G01S7/4816
摘要： The present disclosure provides a lidar system. The lidar system includes: an optical rotating mirror and at least two laser transceiving modules. Each laser transceiving module includes a transmitting unit and a receiving unit. The transmitting unit is configured to transmit a laser signal. The optical rotating mirror is configured to rotate around a rotating axis in a vertical direction, receive the laser signal and adjust a direction of the laser signal during rotation, and reflect the laser signal to a target object. The laser signal is diffusely reflected on the target object, which produces an echo signal. The echo signal is reflected by the optical rotating mirror and is then received by the receiving unit. The receiving unit includes a plurality of detectors arranged in an array.
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3.发明授权公开(公告)号：US11954835B2
公开(公告)日：2024-04-09
申请号：US18255164
申请日：2022-04-21
发明人： Jiawei Shan , Ruitong Zheng , Shiwei Wang , Luofeng Shen , Hongpeng Li
CPC分类号： G06T5/50 , G01S17/89 , G06T7/90 , G06T17/00 , G06V10/56 , G06T2207/10024 , G06T2207/20221
摘要： An image fusion method based on image and LiDAR point cloud is provided. The method comprises: acquiring a first image and sparse point cloud data, point cloud data in each channel of the sparse point cloud data corresponding to pixels in the first image respectively, and the sparse point cloud data and the first image having space and time synchronicity; obtaining a target gradient value corresponding to at least one target pixel in the first image according to the first image, the target pixel being a non-edge pixel of the first image; up-sampling the sparse point cloud data based on at least one target gradient value to obtain dense point cloud data, the target gradient value being determined according to a corresponding target pixel between adjacent channels of the sparse point cloud data; and obtaining a target fusion image based on the first image and the dense point cloud data.
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公开(公告)号：US20230408660A1
公开(公告)日：2023-12-21
申请号：US18255081
申请日：2022-02-16
发明人： Feifei Shi , Shiwei Wang , Ruitong Zheng , Luofeng Shen
CPC分类号： G01S7/4972 , G01S7/4808 , G01S17/89 , G01S7/4816 , G01S7/4802
摘要： A method and a system for optically adjusting an image fusion LiDAR system. The method includes: presetting initial positions of a first detector and a second detector (101); acquiring signal strengths of the echo signals emitted by diffuse reflection at different positions on a background wall detected by the first detector (102); determining a first mark position on the background wall according to the signal strengths of the echo signals (103); and adjusting at least one of a position or an attitude of the second detector according to an echo signal emitted by diffuse reflection at the first mark position (104), the first detector and the second detector being each a linear array detector. The method does not depend on mechanical precision processing and ensures that a photoelectric detector and an image detector detect the same object at the same moment in an image fusion LiDAR system to ensure time synchronization precision.
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公开(公告)号：US11860317B1
公开(公告)日：2024-01-02
申请号：US18255081
申请日：2022-02-16
发明人： Feifei Shi , Shiwei Wang , Ruitong Zheng , Luofeng Shen
CPC分类号： G01S7/4972 , G01S7/4802 , G01S7/4808 , G01S7/4816 , G01S17/89
摘要： A method and a system for optically adjusting an image fusion LiDAR system are provided. The method includes: presetting initial positions of a first detector and a second detector; acquiring signal strengths of the echo signals emitted by diffuse reflection at different positions on a background wall detected by the first detector; determining a first mark position on the background wall according to the signal strengths of the echo signals; and adjusting at least one of a position or an attitude of the second detector according to an echo signal emitted by diffuse reflection at the first mark position, the first detector and the second detector being each a linear array detector.
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公开(公告)号：US20230393246A1
公开(公告)日：2023-12-07
申请号：US18253910
申请日：2022-01-25
发明人： Hongpeng Li , Ruitong Zheng , Zhengjie Zhang , Shiwei Wang , Luofeng Shen , Feifei Shi
IPC分类号： G01S7/481
CPC分类号： G01S7/4817 , G01S7/4816
摘要： The present disclosure provides a lidar system. The lidar system includes: an optical rotating mirror and at least two laser transceiving modules. Each laser transceiving module includes a transmitting unit and a receiving unit. The transmitting unit is configured to transmit a laser signal. The optical rotating mirror is configured to rotate around a rotating axis in a vertical direction, receive the laser signal and adjust a direction of the laser signal during rotation, and reflect the laser signal to a target object. The laser signal is diffusely reflected on the target object, which produces an echo signal. The echo signal is reflected by the optical rotating mirror and is then received by the receiving unit. The receiving unit includes a plurality of detectors arranged in an array.
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