(19)
(11)EP 3 540 464 A3

(12)EUROPEAN PATENT APPLICATION

(88)Date of publication A3:
18.03.2020 Bulletin 2020/12

(43)Date of publication A2:
18.09.2019 Bulletin 2019/38

(21)Application number: 19187123.5

(22)Date of filing:  18.07.2019
(51)International Patent Classification (IPC): 
G01S 17/87(2020.01)
G01S 17/08(2006.01)
G01S 17/86(2020.01)
G01S 7/497(2006.01)
G01S 7/00(2006.01)
G01S 17/931(2020.01)
(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated Extension States:
BA ME
Designated Validation States:
KH MA MD TN

(30)Priority: 12.09.2018 CN 201811062793

(71)Applicant: Baidu Online Network Technology (Beijing) Co., Ltd.
Beijing 100085 (CN)

(72)Inventors:
  • CHEN, Jiajia
    Beijing, Beijing 100085 (CN)
  • WAN, Ji
    Beijing, Beijing 100085 (CN)
  • XIA, Tian
    Beijing, Beijing 100085 (CN)

(74)Representative: Lam, Alvin et al
Maucher Jenkins 26 Caxton Street
London SW1H 0RJ
London SW1H 0RJ (GB)

  


(54)RANGING METHOD BASED ON LASER RADAR SYSTEM, DEVICE AND READABLE STORAGE MEDIUM


(57) The present invention provides a ranging method based on a laser radar system, a device and a readable storage medium. The ranging method includes receiving ranging data obtained by measuring via a plurality of laser radars of a laser radar system, where the ranging data includes distances between the laser radars and obstacles in measurement ranges of the laser radars; establishing a three-dimensional coordinate model according to the ranging data; and determining a distance between a target unmanned device and each obstacle according to the three-dimensional coordinate model. The ranging method of the present application, in which establishing a three-dimensional coordinate model by using ranging data measured by a plurality of laser radars, and determining a distance between a target unmanned driving device and an obstacle according to the three-dimensional coordinate model, can realize a ranging calibration task for a larger distance range, thereby effectively improving a calibration efficiency and accuracy of the visual image algorithm, compared with the existing method of ranging calibration of the visual image algorithm by a single laser radar.










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