KR101678124B1 - Apparatus for omnidirectional lidar and modeling method for executing the same - Google Patents

Abstract

The present invention relates to a lidar data modelling method using an omnidirectional lidar device and, more specifically, to a lidar data modelling method using an omnidirectional lidar device capable of installing elements, which need electricity, in one side to simplify a configuration wherein the elements can be a lidar or a rotation reflection mirror including a motor and capable of 3D modelling by using an omnidirectional lidar device which can be miniaturized.

Description

TECHNICAL FIELD The present invention relates to a method for modeling LIDAR data using an omnidirectional LIDAR device,

The present invention relates to a method of modeling lidar data using an omnidirectional laddering device, and more particularly, to a method of modeling ladder data using an omnidirectional laddering device. Dimensional modeling using an omnidirectional laddering device capable of simplifying and miniaturizing the omnidirectional laddering device.

Raidasensor technology, which has been continuously developed for the purpose of earth science and space exploration, is now used as a main means for accurate terrestrial and environmental observations mounted on aircraft and satellites. It is used for space station, spacecraft docking system, and space exploration robot. . Recently, it has been utilized as a core technology of laser scanner for 3D image restoration and 3D image sensor for future unmanned automobiles, as well as a simple form of Lidar sensor for measuring distance, speeding of car speed violation, Importance is increasing.

Rida sensor is a technology that can detect the distance, direction, speed, temperature, material distribution and concentration characteristic to objects by irradiating the laser to the target. Lidar sensors generally utilize the advantages of lasers that can generate pulse signals with high energy density and short periods, and are used for more precise measurement of the physical properties of the atmosphere and distance measurement.

Lidar sensor technology was first attempted in 1930 for analyzing the air density in the sky through the light intensity of the searchlight, but it was possible to develop the lidar in the 1960s with the invention of the laser in earnest. Since the 1970s, laser sensor technologies have been developed that can be applied to various fields along with the continuous development of laser light source technology. It is used as an important observation technology for precise atmospheric analysis and observation of the global environment mounted on airplanes and satellites. It is also used as a means to supplement camera functions such as distance measurement of objects mounted on spacecraft and exploration robots.

In the ground, a simple form of the Raidasensor technology has been commercialized for long distance measurement, speeding of car speed violation, etc. Recently, it has been used as core technology of 3D scanner and 3D image camera for 3D reverse engineering and unmanned vehicle in the future. Performance has become increasingly important.

Despite its application in a wide range of fields, the Raidasensor technology has not attracted much attention in Korea, where the development of space and earth science is relatively weak compared to the US, Europe and Japan. It is still weak.

LIDAR is an abbreviation for Light Detection And Ranging, sometimes referred to as LADAR (Laser Detection And Ranging). Since LIDAR is a more general term, it is called "Lada".

A 2D laser scanner generally collects image information in a specific plane including a traveling direction of the laser beam using a rotation method.

In a two-dimensional laser scanner using a rotation method, a laser and a receiving element are provided in the rotating body, and the laser and the receiving element rotate together with the rotating body by the rotation of the motor.

At this time, it is difficult to reduce the size and weight due to the complicated configuration requiring a complicated electrical connection to supply power to the laser and the receiving element and to transmit the acquired information from the receiving element. Thus, a three-dimensional image There is a difficult problem.

Korean Patent Laid-Open Publication No. 10-2016-0034719 discloses a lidar system.

Korean Patent Publication [10-2016-0034719] (Publication date: March 30, 2016)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a lighting system and a lighting system, Dimensional modeling using an omnidirectional laddering device capable of simplifying and miniaturizing the omni-directional laddering device.

The objects of the embodiments of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description .

According to another aspect of the present invention, there is provided a method of modeling LR data using an omnidirectional LR device, the method comprising: generating a laser pulse beam, The laser light receiving unit 190 detects the target direction by analyzing the laser received by the laser light receiving unit 190. The laser light receiving unit 190 has a larger number of laser receiving units 190 than the laser emitting unit 110 ); A retroreflector 200 that reflects the laser emitted from the ladder 100 in a direction in which the laser is incident, and has a path through which the laser is incident and a path through which the laser is reflected; The laser beam reflected by the retroreflector 200 and reflected by the retroreflector 200 is reflected or scattered from the target direction, reflected by the retroreflector 200, A rotating mirror 300 rotated by the operation of the mirror 300; And a modeling unit 350 that performs modeling based on the position information of the RL 100 and the target direction information of the RL 100 and the signal detected from the RL 100, The laser beam emitted from the light source 100 is reflected by the retroreflector 200 and is sent to the rotary reflector 300. The laser beam reflected by the rotary reflector 300 is reflected or scattered by the target 10, When the rotating reflector 300 reflects and transmits the reflected light to the retroreflector 200, the retroreflector 200 reflects the light and sends the reflected light to the ladder 100 to detect a target direction of the rotating reflector 300 Wherein the modeling unit (350) comprises: position information of the Raid (100), target direction information of the Raid (100), and Raid (100 Receiving the signal detected from the receiving terminal Step S10; A reference setting step (S20) of setting the reference point on the basis of the target direction information of the LAD (100) received by the modeling unit (350) in the signal receiving step (S10); A distance measuring step (S30) of measuring the distance to the target based on the signal detected from the LAD (100) received by the modeling unit (350) in the signal receiving step (S10); And the modeling unit 350 calculates the target direction information of the Lada 100 received in the signal reception step S10 and the distance measurement step S30 (step S30) based on the reference point on the coordinate set in the reference setting step S20. A stereoscopic image generating step (S40) of generating a stereoscopic image by applying a distance to a target measured in the step (S40); .

Further, the plurality of laser emitting units 110 emit lasers of different characteristics (wavelengths), and the step S40 of generating the stereoscopic image may include a step of irradiating a laser beam at a position And a relative position on the coordinate of each laser emitting unit 110 according to the laser characteristic (wavelength) around the coordinate reference point to generate a stereoscopic image.

The ladder 100 includes a beam splitter 120 for dividing an incident laser into two directions; The beam splitter 120 or the fixed mirror 130 guides the laser beam emitted from the laser emitting unit 110 to the retroreflector 200 And a laser is guided to the laser light receiving unit 190 and the laser is directed in one direction. In the stereoscopic image generation step S40, And generates a stereoscopic image by applying a relative position on the coordinate of each laser emitting unit 110 according to the position of the laser emitting unit 100 and the laser characteristic (wavelength) centered on the coordinate reference point.

In addition, the ladder 100 may include a laser light receiving unit 190 so as to have an integral multiple of the laser number from the ladder 100 toward the retroreflector 200, and a beam splitter for dividing the incident laser into two directions. (120); And part of the beam splitter 120 and the fixed reflector 130 are connected to the retroreflector 200 by a laser beam emitted from the laser emitting part 110 And a part of the beam splitter 120 and the fixed reflector 130 divides a laser incident from the retroreflector 200 into a plurality of beams and guides the beams to the laser light receiving unit 190, The stereoscopic image generation step S40 may include a step of generating a stereoscopic image based on the position of the laser emitted from the laser diode 100 and the position of each of the laser emitting units 110) to generate a stereoscopic image.

In addition, the stereoscopic image generation step S40 may calculate the round trip time (TOF) information from a predetermined number of laser light receiving units 190, compare the plurality of round trip time (TOF) information, Time (TOF) information is determined as effective round trip time (TOF) information, and a stereoscopic image is generated using the effective round trip time (TOF) information.

Further, the distance information

In addition,

(Where c is 3 x 10 < ⁸ > m / s and TOF is the round trip time)

, ≪ / RTI >

For the laser received by the laser light receiving unit 190,

The individual target detection probabilities are:

,

,

R _PE (t) = S _PE (t) + N _PE (t) where S _PE is the rate of generation of the average primary electrons generated by the laser pulse beam, N _PE is the rate of generation of the average primary electrons generated by noise, (t)),

The overall target detection probability is:

를 이용하여 산출되고,

, ≪ / RTI >

The false alarm probability is given by:

를 이용하여 산출되며,

, ≪ / RTI >

The laser diode (100) is characterized in that a predetermined number of laser light receiving portions (190) for receiving reflected or scattered light at one point is applied so that the malfunction probability is kept within an allowable range.

In addition, the LIDAR data modeling method using the omni-directional Ladi apparatus may include a surface shaping step S50 in which the modeling unit 350 performs surface shaping of the stereoscopic image generated in the stereoscopic image generation step S40; A three-dimensional modeling step (S60) of generating a three-dimensional modeling image by classifying layers of the same type of surface formation result obtained in the surface shaping step (S50) by the modeling unit (350); And a lightening step (S70) of the modeling unit (350) for compressing (lighter) the data for each of the layers classified in the 3D modeling image generated in the layer classification step (S60) to generate a 3D lightweight image .

In addition, the surface shaping step (S50) is characterized in that surface shaping is performed using linear interpolation.

The surface shaping step (S50) is characterized by performing surface shaping by performing correction using a morphology filtering algorithm.

In addition, the 3D modeling step S60 is a vector-based method for extracting an outline using the difference values of the vertical vectors of the respective triangles after being converted into the delineo triangle structure, The 3D modeling image is generated by extracting outlines using an Area Based Method and classifying the layers by the same object based on the extracted outlines.

According to the LIDAR data modeling method using an omnidirectional laddering device according to an embodiment of the present invention, it is possible to install a structure requiring electricity to one side (including a lidar and a rotary reflector (including a motor)), It is possible to collect a large number of signals compared to the number of revolutions of the rotating reflector and at the same time to detect a large number of detected signals as a coordinate reference point, a target direction information, and a distance to a target The error can be minimized and the modeling can be performed. Therefore, it is possible to minimize the cost of obtaining the image of the same resolution and improve the accuracy.

In addition, since a plurality of laser emitting units emit laser of different characteristics, a plurality of lasers are emitted at the same time, so that an accurate stereoscopic image can be generated in consideration of the position of the laser.

The beam splitter or the fixed reflector guides the laser emitted from the laser emitting portion to the retroreflector, guides the laser incident from the retroreflector to the laser light receiving portion, and includes a beam splitter and a fixed reflector so that the laser is directed in one direction As a result, it is possible to generate accurate stereoscopic images in consideration of the position of the laser while reducing the production cost by providing a number of laser emitting units less than the number of lasers to be launched.

Since the laser beam incident from the retroreflector is divided into a plurality of beams and guided to the laser light receiving portion, the beam splitter and the fixed mirror are provided so that the laser is directed in one direction, And sends it to the laser light receiving unit, so that an accurate stereoscopic image can be generated in consideration of the position of the laser.

When round trip time (TOF) information is calculated from a predetermined number of laser light receiving units and the same round trip time (TOF) information is compared and compared, the round trip time (TOF) As the information is determined and the target direction is detected, the malfunction can be reduced.

In addition, by determining a certain number of laser light-receiving units that receive reflected or scattered light at one point so that the probability of malfunction is kept within the allowable range, the cost within the allowable range of the probability of malfunction can be minimized.

In addition, it is possible to implement a precise resolution image with a small capacity through the surface shaping step, the three-dimensional modeling step, and the lightening step.

In addition, by performing the surface shaping using the linear interpolation method, the roughness can be trimmed.

In addition, by performing correction using a morphology filtering algorithm to perform surface shaping, it is possible to fill an empty space.

In addition, the outline is extracted using the vector base method or the area base method, and the layer is classified by the same object on the basis of the extracted outline, so that the object can be easily distinguished by extracting the boundary line of the object.

1 is a conceptual diagram of an omnidirectional RDA apparatus used in a RDA data modeling method using an omni-directional RDA apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a method of modeling a Lada data using an omnidirectional Rida apparatus according to an embodiment of the present invention. Referring to FIG.
3 is a conceptual diagram showing an example of a position at which a laser is fired in a ladder of an omnidirectional laddering device according to an embodiment of the present invention.
FIGS. 4 to 6 are conceptual diagrams illustrating an example in which a beam splitter and a fixed mirror are provided inside a ladder of an omnidirectional laddering device according to an embodiment of the present invention.
FIG. 7 is a graph showing an average generation rate of primary electrons generated by a scattered laser pulse beam and noise reaching a laser light receiving portion according to an embodiment of the present invention with time; FIG.
8 is a graph showing scattering (scattering) from the target 130 for the comparison between the case where the target 130 is located at a distance of 10 m and the case where the target 130 is implemented with one laser light receiving unit and the case where the target 130 is implemented with two laser light receiving units The graph of the target detection probability and the false-alarm probability according to the number of primary electrons generated by the laser pulse beam.
9 is a graph showing the relationship between the distance from the target 130 to the target 130 and the distance from the target 130 to the laser 130 when the target 130 is located at a distance of 150 m according to another embodiment of the present invention. Graphs of computational simulation results for target detection probability and false-alarm probability according to the number of primary electrons generated by scattered laser pulse beam.
10 is a graph showing the relationship between the distance from the target 130 to the laser 130 and the distance from the target 130 to the target 130 when the target 130 is at a distance of 290 m, Graphs of computational simulation results for target detection probability and false-alarm probability according to the number of primary electrons generated by scattered laser pulse beam.
FIG. 11 is a diagram illustrating a case where the laser is implemented as one laser light receiving part and the case where two laser light receiving parts are implemented, when the noise generation rate (NPE) is 5 MHz and the target 130 is at a distance of 15 m according to an embodiment of the present invention Graphs of experimental detection results of target detection probability and false-alarm probability according to the number of primary electrons generated by the laser pulse beam scattered from the target 130. FIG.
12 is a diagram illustrating a comparison between the case where the laser is implemented as one laser light receiving unit and the case where the object is implemented with two laser light receiving units when the noise generation rate (NPE) is 9.5 MHz and the target 130 is at a distance of 15 m according to an embodiment of the present invention An experiment on target detection probability and false-alarm probability according to the number (SPE_tot) of primary electrons generated by the laser pulse beam scattered from the target 130 Results graph.
FIG. 13 is a three-dimensional image photographed for comparison between the case where the laser light receiving unit is implemented with two laser light receiving units and the case where the noise generating rate (NPE) is 12 MHz according to an embodiment of the present invention.
FIG. 14 is a flow chart of a method of modeling Lada data using an omni-directional Lada device according to another embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, .

On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the term "comprises" or "having ", etc. is intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, And does not preclude the presence or addition of one or more other features, integers, integers, steps, operations, elements, components, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be construed as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings, and the inventor should properly interpret the concept of the term to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention. Further, it is to be understood that, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Descriptions of known functions and configurations that may be unnecessarily blurred are omitted. The following drawings are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification. It is to be noted that the same elements among the drawings are denoted by the same reference numerals whenever possible.

1 is a conceptual diagram of an omnidirectional laddering device used in a ladder data modeling method using an omnidirectional laddering device according to an embodiment of the present invention, and Fig. 2 is an omni-directional lane according to an embodiment of the present invention FIG. 3 is a conceptual diagram showing an example of a position at which a laser is fired in a ladder of an omnidirectional laddering device according to an embodiment of the present invention, and FIGS. 4 to 6 are diagrams FIG. 7 is a conceptual diagram illustrating an example in which a beam splitter and a fixed mirror are provided inside a ladder of an omnidirectional laddering device according to an embodiment of the present invention. FIG. 8 is a graph showing the average generation rate of primary electrons generated by a laser pulse beam and noise according to an exemplary embodiment of the present invention. The number of primary electrons generated by the laser pulse beam scattered from the target 130 for comparison with the case where the laser light receiving unit is implemented with one laser light receiving unit, FIG. 9 is a graph of a computation result for a target detection probability and a false-alarm probability. FIG. 9 is a graph showing a graph of a result of detection of a single target when the target 130 is at a distance of 150 m according to another embodiment of the present invention. In order to compare the case of implementing with the laser light receiving unit and the case of implementing with the two laser light receiving units, the target detection probability (target) according to the number of primary electrons generated by the laser pulse beam scattered from the target 130 FIG. 10 is a graph of a simulation result for a detection probability and a false-alarm probability. FIG. 10 is a graph showing a graph of a simulation result of one In order to compare the case of implementing with the laser light receiving unit and the case of implementing with the two laser light receiving units, the target detection probability (target) according to the number of primary electrons generated by the laser pulse beam scattered from the target 130 (NPE) of 5 MHz and the target 130 is at a distance of 15 m according to an embodiment of the present invention. FIG. 11 is a graph illustrating a simulation result for a detection probability and a false- The number of primary electrons generated by the laser pulse beam scattered from the target 130 is compared with the number of primary electrons emitted from the target 130. In this case, target detection probability and false-alarm probability. FIG. 12 is a graph showing a noise occurrence rate (NPE) of 9.5 MHz and a target (Primary) electrons generated by the laser pulse beam scattered from the target 130, for example, when the laser 130 is at a distance of 15 m, and when the laser 130 is implemented with one laser light- FIG. 13 is a graph showing the results of a target detection probability and a false-alarm probability according to the number of electrons (SPE_tot) FIG. 14 is a three-dimensional image photographed for comparison with the case of implementing with one laser light receiving unit and the case of implementing with two laser light receiving units when the frequency is 12 MHz. Fig. 2 is a flow chart of a method of using Lda data.

1, a method of modeling lattice data using an omnidirectional laddering device according to an embodiment of the present invention includes a ladder 100, a retroreflector 200, a rotating reflector 300, and a modeling unit And the laser beam emitted from the ladder 100 is reflected by the retroreflector 200 and transmitted to the rotating reflector 300. The laser beam reflected by the rotating reflector 300 passes through the target 10, The laser beam reflected or scattered by the rotary reflector 300 is reflected by the rotary reflector 300 and is transmitted to the retro-reflector 200. The retro-reflector 200 reflects the reflected laser beam and transmits the reflected laser beam to the rotary reflector 300 The method includes a signal receiving step (S10), a reference setting step (S20), a distance measuring step (S30), and a stereoscopic image sensing step (S30) And a generating step S40.

1 is a block diagram of an omnidirectional laddering apparatus used in a ladder data modeling method using an omnidirectional laddering apparatus according to an embodiment of the present invention.

The laser generator 100 generates a laser pulse beam and emits a laser (laser pulse beam) generated from a laser emitting unit (laser diode) 110 that emits the laser pulse beam. The laser beam is reflected or scattered to be received by the laser receiving unit 190 The target direction is detected by analyzing the laser, and the number of the laser light receiving units 190 is more than the number of the laser emitting units 110.

This is a configuration for collecting a larger number of signals than the number of revolutions of the rotating mirror 300.

For example, data that can be obtained by three rotations of the laser 100 with one laser light-receiving unit 190 can be obtained by rotating the laser 100 100 times with three laser-receiving units 190 .

Although the configuration of the LIDAR (Light Detection And Ranging) 100 is sometimes very complicated depending on the application field, the basic configuration includes the laser emitting unit 110, the laser light receiving unit 190, the laser detecting unit, And a part for transmitting and receiving data.

In addition, the laser 100 may be divided into a time-of-flight (TOF) method and a phase-shift method according to a modulation method of a laser signal.

The TOF method is capable of measuring the distance by measuring the time that the laser emits a pulse signal and the reflected pulse signals from objects within the measurement range arrive at the receiver.

The phase-shift method emits a continuously modulated laser beam with a specific frequency, and calculates the time and distance by measuring the amount of phase shift of the signal reflected back from the object within the measurement range.

A laser light source is a laser light source having a specific wavelength or a variable wavelength in a wavelength range of 250 to 11 μm. Recently, a semiconductor laser diode capable of small size and low power is widely used.

In particular, the wavelength of the laser has a direct impact on permeability and eye-safety for air, clouds, rain, and so on.

Basically, the receiver sensitivity and dynamic range of the receiver, along with the laser output, wavelength, spectral characteristics, pulse width and shape, as well as the characteristics of the optical filter and the lens are key factors in determining the performance of the LDA.

In addition, the field of view (FOV) that represents the measurement angle of the receiver, the field stop to select the measurement range, and the FOV overlap characteristic of the laser beam and the receiver are also important items. The minimum time for collecting unit data for the beam speed is the factor that determines the range resolution, so data acquisition and processing within several ns is required for distance resolution of less than 1m.

At this time, the laser emitting unit 110 may be equipped with a collimation lens to increase the parallelism of the laser.

Lada (100) has been mainly studied for the purpose of meteorological observation and distance measurement. Recently, techniques for meteorological observation, unmanned robot sensor and 3D image modeling in satellite have been studied.

Elastic-backscatter lidar is a technique that is used to measure aerosol and cloud characteristics in the atmosphere using spectral broadening characteristics of backscattering light according to the momentum of particles without changing the laser wavelength.

Raman lidar is a technique used for measurement of atmospheric water vapor and temperature distribution through analysis of frequency distribution of laser light scattered according to molecular energy state and intensity distribution in Raman band.

Differential-absorption lidar (DIAL) is a technology that can measure the concentration distribution of air pollutants by using the absorption difference of the measurement target material for laser beams having different laser wavelengths.

Resonance fluorescence lidar is a technique for measuring atomic and ionic concentrations in the medium region using laser light with the same energy as the energy transition of atoms, ions, or molecules, by emitting light of the same wavelength or longer wavelength ,

Doppler lidar is a technique to measure the speed of wind by measuring the minute frequency variation of the laser beam due to the Doppler effect.

The laser rangefinder is the simplest form of Lada technology that measures the distance by measuring the time it takes to reflect a laser beam from an object.

Imaging lidar is a technology capable of image modeling of space by including distance information on the direction of the laser beam. It can collect point cloud information through point-scanning based on laser rangefinder technology, It is a technology that can realize 3D image by collecting laser light through a multi-array receiving element.

If the laser rangefinder described above corresponds to a one-dimensional (1D) scanner, the 2D laser scanner generally collects image information from a specific plane, including the direction of the laser beam, using a rotation scheme. The system configuration can consist of a single laser and a single receiving element, such as a laser rangefinder, and a motor for rotation is added.

A conventional two-dimensional laser scanner using a rotating system includes a laser and a receiving element inside the rotating body. The laser and the receiving element are rotated together with the rotating body by the rotation of the motor, and the laser beam is transmitted to the rotating shaft Direction to rotate by 90 degrees to collect 2D information.

When a 2D laser scanner is mounted on a vehicle and scanned for spatial information, a 3D image can be realized through a computer.

3D Flash Lidar is a commercially available 3D laser scanner technology, which is advantageous for securing a wide viewing angle, but has a low vertical resolution and difficulty in miniaturization.

3D Flash lidar is a technology that collects real-time image information like general video camera by irradiating a single laser beam to a wide viewing angle and receiving a reflected laser beam through a multi-array receiving device. A receiver for a high resolution and a wide viewing angle is required, but a small integration is possible.

Although various ladder examples have been described above, the present invention is not limited thereto, and it is needless to say that the example ladder may be utilized.

However, in the conventional rotation method, since the laser light emitting portion and the laser light receiving portion must be rotated or the mirror installed in the direction in which the laser of the laser light emitting portion is to be rotated, there is a problem that the structure becomes complicated In order to solve the problem, the present invention is characterized in that a rotating reflector 300 is provided on the side of the laser emitting unit 110 (laser emitting unit 110) By providing a rotatable structure, a structure requiring electricity can be installed to one side.

The retroreflector 200 reflects the laser emitted from the ladder 100 in a direction in which the laser is incident, and the path through which the laser is incident and the path through which the laser is reflected are different from each other.

This is a structure for mounting the rotating reflector 300 to be rotated on the side of the laser light emitting unit 110 (laser light emitting unit 110).

In this case, the retro-reflector 200 may have a semi-circular or triangular inner shape of a vertical section and a reflective surface.

That is, the retroreflector 200 may be formed in a semi-spherical shape (semicircular inner shape in cross section), arcuate shape (semicircular inner shape is semicircular), conical shape (triangular inner shape in cross section) have.

Although the laser emitting unit 110 is provided in a straight line and a triangle in the above description, the present invention is not limited thereto. It is needless to say that the laser emitting unit 110 may be provided in various shapes such as a polygon.

The rotating reflector 300 reflects the incident laser beam reflected by the retroreflector 200 and transmits it to the target direction or reflects or scatters the laser beam from the target direction and reflects the laser beam to the retroreflector 200 And is rotated by the operation of the motor 310.

The rotating mirror 300 reflects the laser beam and transmits the laser beam in the target direction.

For this, as shown in FIG. 1, the ladder 100 is provided in one direction so as to face the other direction from one side, and the retro-reflector 200 is provided in the other direction, And the rotary reflector 300 may be provided in the lateral direction of the ladder 100.

That is, when the laser beam emitted from the ladder 100 is reflected at least twice on the retro-reflector 200 and transmitted to the ladder side, the rotary reflector 300 can reflect the laser beam toward the target direction.

The modeling unit 350 performs modeling based on the position information of the Raid 100, the target direction information of the Raid 100, and the signal detected from the Raid 100.

Next, a method for modeling Lidar data using an omni-directional Ladder device according to an embodiment of the present invention will be described with reference to FIG.

In the signal receiving step S10, the modeling unit 350 receives the position information of the RL 100, the target direction information of the RL 100, and the signal detected from the RL 100.

That is, the modeling unit 350 receives the basic information necessary for realizing the three-dimensional image.

In the reference setting step S20, the modeling unit 350 sets the reference point on the basis of the target direction information of the RL 100 received in the signal receiving step S10.

Here, the coordinates may be spatial coordinates or plane coordinates including vertical distance information, and the like.

That is, the retroreflector 200 sets a point on a coordinate basis in a target direction to which the laser is emitted, and the coordinate-based reference point is set at the center of the laser 100 or the laser light 100 It can be any one of the lasers.

The distance measuring step S30 measures the distance to the target based on the signal detected from the RL 100 received by the modeling unit 350 in the signal receiving step S10.

The stereoscopic image generation step S40 may be performed by the modeling unit 350 based on the target direction information of the RL 100 received in the signal reception step S10, And a distance to the target measured in the distance measuring step S30 are applied to generate a stereoscopic image.

That is, it is possible to know which direction is to be measured as the target direction information and to apply the coordinate system in the corresponding direction. If a reference point is designated on the coordinate system in the corresponding direction, the distance to the target measured by each laser is R Stereoscopic images can be generated based on point cloud data.

Here, the plurality of laser emitting units 110 emit laser beams having different characteristics (wavelengths)

The stereoscopic image generation step S40 may include generating a stereoscopic image based on a position of the laser emitted from the laser light source 100 and a relative position on the coordinate of the laser light emitting unit 110, To generate a stereoscopic image.

This is to collect data that can measure multiple variables at the same time when multiple variables are measured at the same time, or to reduce the malfunction caused by multiple laser firing at the same time.

That is, since the characteristic (wavelength) of the laser differs depending on the position at which the laser is emitted from the laser diode 100, it is possible to check which laser the laser diode 190 received by the laser of the specific wavelength has received, .

3, the position where the laser is fired in the ladder 100 of the omnidirectional laddering device according to the embodiment of the present invention (see (A) of Fig. 3) or the polygon B) of the first embodiment.

3 (A), data aligned in a line can be obtained,

In FIG. 3 (B), when the laser emission time is adjusted, not only data arranged in a line but also data arranged in a diamond shape can be obtained.

Although the laser emitting unit 110 is provided in a straight line and a triangle in the above description, the present invention is not limited thereto. Needless to say, the laser emitting unit 110 may be provided in various shapes such as sawtooth patterns.

4 to 5, the ladder 100 of the omnidirectional ladder device according to an embodiment of the present invention includes a beam splitter 120 for dividing an incident laser into two directions, Wherein the beam splitter 120 or the fixed reflector 130 guides the laser emitted from the laser emitting unit 110 to the retroreflector 200, 200 to the laser light receiving unit 190, and the laser is directed in one direction,

The stereoscopic image generation step S40 may include generating a stereoscopic image based on a position of the laser emitted from the laser light source 100 and a relative position on the coordinate of the laser light emitting unit 110, To generate a stereoscopic image.

That is, since the characteristic (wavelength) of the laser differs depending on the position at which the laser is emitted from the laser diode 100, it is possible to check which laser the laser diode 190 received by the laser of the specific wavelength has received, .

The beam splitter 120 may use a beam splitter. A beam splitter is an optical element that divides an incident light beam (light beam) into two, and is used in an interferometer or the like. Usually, translucent mirrors are often referred to. Saber plate or Wallace Stone prism, which obtains two outgoing lights (emission light) whose directions of oscillation are perpendicular to each other by using birefringence of crystals, is also a kind of beam splitter. Also, a diffraction grating, a Fresnel plate, a diffuser plate, or the like may be used as a beam splitter.

4) or N (see FIG. 5), where N is the number of beams to be divided (see FIG. 4), and the beam splitter 120 used to split the laser emitted from the laser emitting unit 110, ) Are provided.

The use of one or a plurality of beam splitters 120 for dividing the laser emitted from the laser emitting unit 110 in two directions divides the laser when several parameters are simultaneously measured, And to reduce the malfunction caused by the simultaneous emission of multiple lasers at the same time.

6, the ladder 100 of the omnidirectional laddering device according to an embodiment of the present invention may be formed to have an integral multiple of the laser number from the ladder 100 to the retroreflector 200 And a beam splitter 120 for splitting the incident laser in two directions and a fixed mirror 130 for reflecting the laser beam. The beam splitter 120 and the fixed mirror 130 Some of the beam splitter 120 and the fixed reflector 130 guide the laser emitted from the laser emitting unit 110 to the retroreflector 200, Characterized in that the laser is divided into a plurality of parts and guided to the laser light receiving part (190), the laser being directed in one direction,

The stereoscopic image generation step S40 may include generating a stereoscopic image based on a position of the laser emitted from the laser light source 100 and a relative position on the coordinate of the laser light emitting unit 110, To generate a stereoscopic image.

That is, since the characteristic (wavelength) of the laser differs depending on the position at which the laser is emitted from the laser diode 100, it is possible to check which laser the laser diode 190 received by the laser of the specific wavelength has received, .

The purpose of dividing the laser incident from the retroreflector 200 into a plurality of laser beams and guiding the laser beams to the laser light receiving unit 190 is to collect data capable of measuring a plurality of parameters at a time when a plurality of parameters are measured simultaneously .

At this time, the stereoscopic image generation step S40 may be performed by a laser light receiving unit 190 of a predetermined number (for example, two laser light receiving units 190 are used as one set from the top in FIG. 6) (TOF) information, compares the plurality of round trip time (TOF) information, determines the round trip time (TOF) information as effective round trip time (TOF) information, ) Information to generate a stereoscopic image.

This is to reduce the noise and reduce the malfunction.

At this time, the laser light receiving unit 190 may use a Geiger-mode Avalanche PhotoDiode (GmAPD), which is transmitted to a signal processing system through a TDC (Time-to-Digital Converter) Distance information, thereby obtaining a two-dimensional or three-dimensional image.

The time of flight (TOF) is converted into distance information by the following equation.

Where c is 3 x 10 ⁸ m / s and TOF is the round trip time.

The omnidirectional LIDAR apparatus can convert the two-dimensional or three-dimensional image having almost no noise by calculating the distance information to the target 10 without performing additional image processing using the measured TOF data. Accordingly, a two-dimensional or three-dimensional image is visualized, and noise can be removed by applying an algorithm for removing noise. Of course, a memory for storing a microprocessor, program and / or software data, a hard disk, a display device for displaying a processed image, and the like may be provided.

At this time, the target detection probability and the false-alarm probability can be theoretically compared.

In 2003, Applied Optics, Vol. 42, Issue 27, pp. Quot; Time-of-flight analysis of three ", entitled " Detection and false-alarm probabilities for laser radars that use Geiger-mode detectors " -dimensional imaging laser radar using a Geiger-mode avlanche photodiode ", and Current Applied Physics, Vol. According to the "Geiger mode avalanche photodiode," the probability of electrical signal generation in a Geiger-mode photodiode (GmAPD) is approximately proportional to Poisson statistics, .

The generation rate of the primary electrons generated by the collected laser light reflected or scattered from the target 10 reaching the laser light receiving unit 190 and the average primary electrons generated by the noises The generation rate is shown in FIG.

Referring to FIG. 7, the S _PE 420 is a generation rate of average primary electrons generated by the laser pulse beam collected in the laser light receiving unit 190, N _PE is the average primary electrons generated by the noise, R _PE is the sum of the two production rates, and their relationship can be expressed as follows. Where N _PE 410 is constant and S _PE is constrained to one time bin of the time bin number (400) axis. Here, these relational expressions can be expressed by the following formulas.

The probability that the primary electron will be generated in the i-th time bin at this time, that is, the probability that the electric signal will be generated, can be expressed as Poisson statistics.

Target detection probability and false-alarm probability calculated using one laser light receiver 190 in the situation where the target is located at the jth time bin are given by the following equations.

The target detection probability in each of the two laser light receiving units 190 and the beam splitter is expressed by the following equation.

R _PE (t) = S _PE (t) + N _PE (t) where S _PE is the rate of generation of the average primary electrons generated by the laser pulse beam, N _PE is the rate of generation of the average primary electrons generated by noise, (t)

When the AND gate (250 in FIG. 2) is applied to the above Equations (6) and (7), the target detection probability can be obtained as follows.

Also, a false alarm probability can be obtained by the following equation.

The omnidirectional laddering device according to an embodiment of the present invention is characterized in that a certain number of laser light receiving portions 190 for receiving light reflected or scattered at one point is applied so that the probability of malfunction is kept within an allowable range .

The results of calculating the target detection probability and the false alarm probability while switching between N _PE and S _PE for the case of operating one laser light receiving unit 190 and the case of operating two laser light receiving units 190 are shown in FIGS. At this time, assuming a gate time of 2 μs and a time bin of 1 ns, it is calculated for targets located at 10 m, 150 m, and 290 m, respectively.

8 shows a false alarm probability 505 of 0.1% to 86.6% for one Geiger mode photodiode (GmAPD) while the N _PE value changes from 10 kHz to 1000 kHz when the target is located at a distance of 10 m (500 to 520) , Whereas the false-worse probability (507) for the two GmAPDs is 1.6 * 10-7% ~ 1.6 * 10-3%.

In general, the target detection probability increases with increasing S _PE . In the case of the two laser light receiving units 190, the target detection probability 503 is one laser light receiving unit in the region where S _PE is 20 or less (190) is about half that of the target detection probability (501).

This is because the energy of the laser pulse beam is divided in half at the beam splitter 120 and directed to each of the laser light receiving portions 190. This is a trade-off that occurs instead of reducing the false-alarm probability.

9 shows a case where the target is located at a distance of 150 m (600 to 620). In the case of one laser light receiver 190 while the N _PE value changes from 10 kHz to 1000 kHz, a false-alarm probability is shown from 2.0% to 86.4% In the case of the two laser light receiving portions 190, 2.5 * 10-7% ~ 2.0 * 10-2%.

Here again, in the region where the S _PE is 20 or less, it can be seen that there is a trade-off in which the two laser light-receiving portions 190 are about half as small as the case of one laser light-receiving portion 190.

10 shows a case where the target is located at a distance of 290 m (700 to 720). In the case of one laser light receiver 190 while the N _PE value changes from 10 kHz to 1000 kHz, a false-alarm probability is shown from 2.0% to 86.4% In the case of the two laser light-receiving portions 190, it is 4.8 * 10-6% ~ 2.2 * 10-2%.

Here again, in the region where the S _PE is 20 or less, it can be seen that there is a trade-off in which the two laser light-receiving portions 190 are about half as small as the case of one laser light-receiving portion 190.

11, in order to compare the case where the noise occurrence rate (N _PE ) is 5 MHz and the case where it is implemented by one laser light receiving section 190 and the case where two laser light receiving sections 190 are implemented when the laser light receiving section 190 is implemented, The experimental results for the target detection probability and the false-alarm probability according to the number of primary electrons (S _PE _tot) generated by the laser pulse beam scattered from the target FIG. The object is located 15 m from the detector. The gate time and the time bin are 100 ns and 3 ns, respectively, for data processing. 11, the false alarm probability 505 is 23% to 37% in the case of one laser light receiver 190, while the false alarm 507 is 0.09% to 0.1% in the case of the two laser light receiver 190. [ %. 12, the false alarm probability 505 is 38% to 58% in the case of one laser light receiver 190 while the false alarm 507 is 0.3% to 0.4% in the case of the two laser light receiver 190. [ % Can be seen

13 is a diagram illustrating a case where the laser light receiving unit 190 according to one embodiment of the present invention is implemented with one laser light receiving unit 190 when the noise generation rate (NPE) is 12 MHz, Dimensional images taken for comparison. The object was an iron box and the image of 256 × 256 pixels was obtained through scanning. As shown in FIG. 13 (a), the false-alarm probability is 46.9% when implemented with one laser light receiving unit 190, It can be confirmed that the false-alarm probability is maintained at 0.0092% or less when the light-receiving unit 190 is operated. The false-alarm probability was measured 5,097 times less when the two laser light-receiving portions 190 were operated.

As shown in FIG. 14, the LIDAR data modeling method using an omnidirectional Ladder device according to an embodiment of the present invention includes a surface shaping step S50, a three-dimensional modeling step S60, and a lightening step S70 .

In the surface shaping step S50, the modeling unit 350 performs surface shaping of the stereoscopic image generated in the stereoscopic image generating step S40.

Surface modeling can proceed by filling in between points and points that are estimated as one object.

At this time, the surface shaping step (S50) may be performed by surface-shaping using a linear interpolation method.

That is, a stereoscopic image composed of Rida point cloud data is converted into a lattice grid of lattice structure by linear interpolation, and the surface is shaped to generate a digital surface model (DSM) .

In addition, the surface shaping step S50 may be performed by performing correction using a morphology filtering algorithm to perform surface shaping.

Although there are some limitations on the surface shaping operation due to external vibration, noise, etc., the empty space in which the surface is not formed can be corrected by using a closing algorithm, which is one of the morphology filtering algorithms, .

Although the morphology filtering algorithm has been described above, the present invention is not limited to this, and it is also possible to use median filtering.

In order to eliminate the zigzag pattern generated in the surface shaping, smoothing can be performed using the Pallnomial equation technique.

In the three-dimensional modeling step (S60), the modeling unit (350) classifies the surface shape results obtained in the surface shaping step (S50) by layers of the same objects, and performs three-dimensional modeling to generate a three-dimensional modeling image.

Classification by object can use clustering algorithm. At this time, an ISODATA (Iterative Self-Organizing Data Analysis) clustering algorithm can be used as a clustering algorithm.

In this case, a vector-based method for extracting an outline using the difference values of the vertical vectors of the respective triangles after the transformation into the delineo triangle structure of the three-dimensional modeling step (S60) The 3D modeling image is generated by extracting outlines using an Area Based Method and classifying the layers by the same objects based on the extracted outlines.

The vector-based method has the advantage of extracting boundaries regardless of the bend of a specific object.

The area-based method is a modification of the Convex Hull algorithm that extracts the outline of a point group. Using the searching window, it finds the surrounding points in the search window, (Boundary Tracing Method) is a method of finding the small azimuth points between the points and the surrounding points and connecting them to the center point to form an edge and finding the boundary line of the point cloud data. By using the area base method, outline can be extracted by connecting and connecting the points constituting the outline among the points constituting the dirt floor board.

Although the vector-based method and the area-based method are described above, the present invention is not limited thereto. It is needless to say that the outline may be extracted by using a modified convolution algorithm.

After the outline extraction, the smoothing operation can be performed using a linear generalization algorithm.

In the lightening step S70, the modeling unit 350 compresses (lighter) data by layers classified in the 3D modeling image generated in the layer classification step S60 to generate a 3D light-weighted image.

For example, the fitting surface modeling operation for the building target is performed (S50), and then a three-dimensional modeling image in which layer classification is performed for each type is generated (S60), and the 3D modeling image is converted into a three- The structure can be simplified to lighten the data (S70).

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: Rada
110: laser emitting part
120: beam splitter
130: Fixed reflector
190: laser light receiving portion
200: Retroreflector
300: rotating reflector
310: motor

Claims (10)

The laser emitting unit 110 generates a laser pulse beam and emits a laser beam emitted from the laser emitting unit 110. The laser beam is reflected or scattered to analyze the laser beam received by the laser receiving unit 190 to detect a target direction, (100) having a larger number of laser light receiving portions (190) than the number of laser receiving portions (190);
A retroreflector 200 that reflects the laser emitted from the ladder 100 in a direction in which the laser is incident, and has a path through which the laser is incident and a path through which the laser is reflected; And
The laser beam reflected by the retroreflector 200 and reflected by the retroreflector 200 is reflected or scattered from the target direction, reflected by the retroreflector 200, A rotating mirror 300 rotated by the operation of the mirror 300; And
A modeling unit 350 that performs modeling based on the position information of the ladder 100, the target direction information of the ladder 100, and the signal detected from the ladder 100;
/ RTI >
The laser beam emitted from the ladder 100 is reflected by the retroreflector 200 and sent to the rotating reflector 300. The laser beam reflected by the rotating reflector 300 is reflected or scattered by the target 10, When the laser beam is reflected by the rotating reflector 300 and is transmitted to the retroreflector 200, the retroreflector 200 reflects the laser beam and sends the reflected laser beam to the laser ray receiver 100, The method comprising the steps of: (a)
(S10) receiving the signal detected from the position information of the Raid 100, the target direction information of the Raid 100, and the Raid 100;
A reference setting step (S20) of setting the reference point on the basis of the target direction information of the LAD (100) received by the modeling unit (350) in the signal receiving step (S10);
A distance measuring step (S30) of measuring the distance to the target based on the signal detected from the LAD (100) received by the modeling unit (350) in the signal receiving step (S10); And
The modeling unit 350 may calculate the target direction information of the Lada 100 received in the signal reception step S10 and the distance measurement step S30 based on the coordinate reference point set in the reference setting step S20, A stereoscopic image generating step (S40) of generating a stereoscopic image by applying a distance to a target measured in the stereoscopic image generating step (S40);
, ≪ / RTI &
The plurality of laser emitting units 110
Characterized in that a laser beam of different wavelength is emitted,
In the stereoscopic image generation step S40,
Wherein a stereoscopic image is generated by applying a relative position of each of the laser emitting units (110) on a coordinate basis with respect to a position where the laser is emitted from the laser (100) and a coordinate based reference point, A method of modeling LIDAR data using directional LIDAR devices.
delete The laser emitting unit 110 generates a laser pulse beam and emits a laser beam emitted from the laser emitting unit 110. The laser beam is reflected or scattered to analyze the laser beam received by the laser receiving unit 190 to detect a target direction, (100) having a larger number of laser light receiving portions (190) than the number of laser receiving portions (190);
A retroreflector 200 that reflects the laser emitted from the ladder 100 in a direction in which the laser is incident, and has a path through which the laser is incident and a path through which the laser is reflected; And
The laser beam reflected by the retroreflector 200 and reflected by the retroreflector 200 is reflected or scattered from the target direction, reflected by the retroreflector 200, A rotating mirror 300 rotated by the operation of the mirror 300; And
A modeling unit 350 that performs modeling based on the position information of the ladder 100, the target direction information of the ladder 100, and the signal detected from the ladder 100;
/ RTI >
The laser beam emitted from the ladder 100 is reflected by the retroreflector 200 and sent to the rotating reflector 300. The laser beam reflected by the rotating reflector 300 is reflected or scattered by the target 10, When the laser beam is reflected by the rotating reflector 300 and is transmitted to the retroreflector 200, the retroreflector 200 reflects the laser beam and sends the reflected laser beam to the laser ray receiver 100, The method comprising the steps of: (a)
(S10) receiving the signal detected from the position information of the Raid 100, the target direction information of the Raid 100, and the Raid 100;
A reference setting step (S20) of setting the reference point on the basis of the target direction information of the LAD (100) received by the modeling unit (350) in the signal receiving step (S10);
A distance measuring step (S30) of measuring the distance to the target based on the signal detected from the LAD (100) received by the modeling unit (350) in the signal receiving step (S10); And
The modeling unit 350 may calculate the target direction information of the Lada 100 received in the signal reception step S10 and the distance measurement step S30 based on the coordinate reference point set in the reference setting step S20, A stereoscopic image generating step (S40) of generating a stereoscopic image by applying a distance to a target measured in the stereoscopic image generating step (S40);
, ≪ / RTI &
The Raid (100)
A beam splitter 120 for dividing the incident laser into two directions; And
A fixed mirror 130 for reflecting the laser;
/ RTI >
The beam splitter 120 or the fixed reflector 130 guides the laser emitted from the laser emitting unit 110 to the retroreflector 200 and transmits the laser incident from the retroreflector 200 to the laser light receiving unit 200. [ (190), wherein the laser is directed in one direction,
In the stereoscopic image generation step S40,
Wherein a stereoscopic image is generated by applying a relative position of each of the laser emitting units (110) on a coordinate basis with respect to a position where the laser is emitted from the laser (100) and a coordinate based reference point, A method of modeling LIDAR data using directional LIDAR devices.
The laser emitting unit 110 generates a laser pulse beam and emits a laser beam emitted from the laser emitting unit 110. The laser beam is reflected or scattered to analyze the laser beam received by the laser receiving unit 190 to detect a target direction, (100) having a larger number of laser light receiving portions (190) than the number of laser receiving portions (190);
A retroreflector 200 that reflects the laser emitted from the ladder 100 in a direction in which the laser is incident, and has a path through which the laser is incident and a path through which the laser is reflected; And
The laser beam reflected by the retroreflector 200 and reflected by the retroreflector 200 is reflected or scattered from the target direction, reflected by the retroreflector 200, A rotating mirror 300 rotated by the operation of the mirror 300; And
A modeling unit 350 that performs modeling based on the position information of the ladder 100, the target direction information of the ladder 100, and the signal detected from the ladder 100;
/ RTI >
The laser beam emitted from the ladder 100 is reflected by the retroreflector 200 and sent to the rotating reflector 300. The laser beam reflected by the rotating reflector 300 is reflected or scattered by the target 10, When the laser beam is reflected by the rotating reflector 300 and is transmitted to the retroreflector 200, the retroreflector 200 reflects the laser beam and sends the reflected laser beam to the laser ray receiver 100, The method comprising the steps of: (a)
(S10) receiving the signal detected from the position information of the Raid 100, the target direction information of the Raid 100, and the Raid 100;
A reference setting step (S20) of setting the reference point on the basis of the target direction information of the LAD (100) received by the modeling unit (350) in the signal receiving step (S10);
A distance measuring step (S30) of measuring the distance to the target based on the signal detected from the LAD (100) received by the modeling unit (350) in the signal receiving step (S10); And
The modeling unit 350 may calculate the target direction information of the Lada 100 received in the signal reception step S10 and the distance measurement step S30 based on the coordinate reference point set in the reference setting step S20, A stereoscopic image generating step (S40) of generating a stereoscopic image by applying a distance to a target measured in the stereoscopic image generating step (S40);
, ≪ / RTI &
The Raid (100)
A laser light receiving unit 190 is provided so as to have an integral multiple of the laser number from the ladder 100 toward the retroreflector 200,
A beam splitter 120 for dividing the incident laser into two directions; And
A fixed mirror 130 for reflecting the laser;
/ RTI >
Some of the beam splitter 120 and the fixed mirror 130 guide the laser emitted from the laser emitting unit 110 to the retroreflector 200 and the beam splitter 120 and the fixed mirror 130, The laser is guided to the laser light receiving portion 190 by dividing the laser incident from the retroreflector 200 into a plurality of portions and the laser is directed in one direction,
In the stereoscopic image generation step S40,
Wherein a stereoscopic image is generated by applying a relative position of each of the laser emitting units (110) on a coordinate basis with respect to a position where the laser is emitted from the laser (100) and a coordinate based reference point, A method of modeling LIDAR data using directional LIDAR devices.
5. The method of claim 4,
In the stereoscopic image generation step S40,
(TOF) information from a predetermined number of laser light receiving units 190 and compares the round trip time (TOF) information with each other and compares the round trip time (TOF) information with the effective round trip time TOF) information, and generates a stereoscopic image using the effective round trip time (TOF) information.
4. The method according to any one of claims 1 to 3,
The street information is as follows:

(Where c is 3 x 10 < ⁸ > m / s and TOF is the round trip time)
, ≪ / RTI >
For the laser received by the laser light receiving unit 190,
The individual target detection probabilities are:

,

R _PE (t) = S _PE (t) + N _PE (t) where S _PE is the rate of generation of the average primary electrons generated by the laser pulse beam, N _PE is the rate of generation of the average primary electrons generated by noise, (t)),
The overall target detection probability is:

, ≪ / RTI >
The false alarm probability is given by:

, ≪ / RTI >
Wherein a predetermined number of laser light receiving portions (190) for receiving reflected or scattered light at one point is applied to the Lada (100) so that the malfunction probability is kept within an allowable range. Method of modeling Raidas data.
4. The method according to any one of claims 1 to 3,
The LIDAR data modeling method using the omnidirectional Ladder device
A surface shaping step (S50) in which the modeling unit (350) performs surface shaping of the stereoscopic image generated in the stereoscopic image generating step (S40);
A three-dimensional modeling step (S60) of generating a three-dimensional modeling image by classifying layers of the same type of surface formation result obtained in the surface shaping step (S50) by the modeling unit (350);
A lightening step (S70) of the modeling unit (350) for compressing (lighter weighting) data by layers classified in the 3D modeling image generated in the layer classification step (S60) to generate a 3D light weighted image;
Wherein the method further comprises the steps of:
8. The method of claim 7,
The surface shaping step (S50)
Wherein the surface shaping is performed using a linear interpolation method.
8. The method of claim 7,
The surface shaping step (S50)
And performing correction using a morphology filtering algorithm to perform surface shaping.
8. The method of claim 7,
In the three-dimensional modeling step S60,
The vector-based method extracts the outline using the difference values of the vertical vectors of each triangle after converting to the dilenoi triangular structure or the area based method used for the extraction of the outline Extracting an outline of the object, and classifying the layers according to the same object to generate a three-dimensional modeling image.

Images