Target Detection of Shipborne Lidar Based on Variable Size Grid Map

Ligang Li; Yujie Guo; Lin Li; Xianfeng Hao; Jiucai Jin; Deqing Liu; Yongshou Dai

doi:10.3788/LOP202259.0828002

Journals >Laser & Optoelectronics Progress >Volume 59 >Issue 8 >Page 0828002 > Article

Laser & Optoelectronics Progress
Vol. 59, Issue 8, 0828002 (2022)

Target Detection of Shipborne Lidar Based on Variable Size Grid Map

Ligang Li¹, Yujie Guo², Lin Li², Xianfeng Hao², Jiucai Jin³, Deqing Liu³, and Yongshou Dai^1、*

Author Affiliations

¹College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao , Shandong 266580, China

²College of Control Science and Engineering, China University of Petroleum (East China), Qingdao , Shandong 266580, China

³Laboratory of Marine Physics and Remote Sensing, First Institute of Oceanography, Ministry of Natural Resources, Qingdao , Shandong 266061, China

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DOI: 10.3788/LOP202259.0828002 Cite this Article Set citation alerts

Ligang Li, Yujie Guo, Lin Li, Xianfeng Hao, Jiucai Jin, Deqing Liu, Yongshou Dai. Target Detection of Shipborne Lidar Based on Variable Size Grid Map[J]. Laser & Optoelectronics Progress, 2022, 59(8): 0828002 Copy Citation Text

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Fig. 1. Flowchart of lidar obstacle detection algorithm based on variable size grid map

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Fig. 2. Schematic of variable size raster map

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Fig. 3. Flowchart of point cloud projection

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Fig. 4. Experimental scene and original point cloud map. (a) Experimental scene; (b) point cloud image

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Fig. 5. Processing effect of different methods. (a) Processing effect of method 1 when the grid size is 1

m

×1

m

; (b) processing effect of method 1 when the grid size is 5

m

×5

m

; (c) processing effect of method 2

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Parameter	Value
Line number	16
Horizontal field of view angle /（°）	360
Vertical field of view angle /（°）	±15
Horizontal angular resolution /（°）	0.1/0.2/0.4
Vertical angular resolution /（°）	2.0
Working frequency /Hz	5/10/20
Ranging accuracy /cm	±2
Range /m	0-150

Table 1. Performance parameters of lidar

Target	Method	Grid size /（m×m）	Length / $m$	Wide / $m$	High / $m$	Coordinate
1	1	1×1	5.85	8.41	2.57	（-5.50，14.09）
	1	5×5	5.85	17.65	2.57	（-5.50，9.47）
	2	1×1‒5×5	5.85	8.41	2.57	（-5.50，14.09）
2	1	1×1	3.92	4.39	1.88	（5.35，20.99）
	1	5×5	3.92	4.39	1.88	（5.35，20.99）
	2	1×1‒5×5	3.92	4.39	1.88	（5.35，20.99）
3	1	1×1	3.04	1.35	0.25	（-24.38，26.73）
		1×1	1.30	0.56	2.15	（-21.68，29.97）
		5×5	5.02	4.43	2.15	（-23.54，28.04）
	2	1×1‒5×5	5.02	4.43	2.15	（-23.54，28.04）
4	1	1×1	1.77	0.83	0.59	（-1.68，36.32）
		1×1	0.26	0.64	0.70	（-0.43，38.49）
		5×5	2.41	3.23	0.59	（-1.36，37.52）
	2	1×1‒5×5	2.41	3.23	0.59	（-1.36，37.52）
5	1	1×1	1.39	0.87	1.24	（2.22，49.55）
	1	5×5	7.72	8.28	1.24	（5.39，53.26）
	2	1×1‒5×5	1.59	0.45	1.25	（2.32，49.91）

Table 2. Detection results of different methods

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