阅读说明：本技术 用于输出提示信息的方法和装置 (Method and device for outputting prompt information ) 是由 刘祥 高斌 张双 朱晓星 杨凡 王俊平 于 2019-09-24 设计创作，主要内容包括：本申请实施例公开了用于输出提示信息的方法和装置。该方法的一具体实施方式包括：获取在预设时间段内采集的至少一帧点云,其中,同一帧点云是无人车上的多个激光雷达在同一时刻采集的；以高度区间为横坐标,以数目为纵坐标,绘制至少一帧点云的分布直方图；基于分布直方图中的点云点的分布情况输出标定提示信息。该实施方式基于分布直方图中的点云点的分布情况,能够快速地确定无人车上安装的激光雷达是否需要重新标定,有助于减少障碍物的位姿感知错误的情况。(The embodiment of the application discloses a method and a device for outputting prompt information. One embodiment of the method comprises: acquiring at least one frame of point cloud acquired within a preset time period, wherein the same frame of point cloud is acquired by a plurality of laser radars on the unmanned vehicle at the same time; drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate; and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram. The method and the device can rapidly determine whether the laser radar installed on the unmanned vehicle needs to be calibrated again or not based on the distribution condition of the point cloud points in the distribution histogram, and are favorable for reducing the condition of wrong pose perception of the obstacle.)

1. A method for outputting a hint information, comprising:

acquiring at least one frame of point cloud acquired within a preset time period, wherein the same frame of point cloud is acquired by a plurality of laser radars on the unmanned vehicle at the same time;

drawing a distribution histogram of the at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate;

and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.

2. The method of claim 1, wherein the outputting calibration prompt information based on the distribution condition of the distribution histogram comprises:

if the distribution histogram obeys unimodal distribution, outputting information for prompting that the plurality of laser radars are calibrated correctly;

and if the distribution histogram obeys multimodal distribution, outputting information for prompting the plurality of laser radar calibration errors.

3. The method of claim 2, wherein the method further comprises:

if the number of the peaks of the distribution histogram is not less than 2 and less than the number of all laser radars, determining that the number of the peaks minus 1 laser radar calibration error exists;

and if the number of the peaks of the distribution histogram is equal to the number of all the laser radars, determining that the number of the peaks minus 1 laser radar calibration error or all the laser radar calibration errors exist.

4. The method of one of claims 1-3, wherein the at least one frame of point cloud comprises one of: one frame point cloud, continuous frame point cloud, interval frame point cloud.

5. The method according to one of claims 1 to 3, wherein the point cloud points of the same frame of point clouds acquired by the plurality of lidar are coordinate points in the same preset coordinate system, wherein the preset coordinate system comprises at least one of: an inertial measurement unit coordinate system, a vehicle coordinate system and a laser radar coordinate system.

6. An apparatus for outputting a prompt message, comprising:

the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is configured to acquire at least one frame of point cloud acquired within a preset time period, and the same frame of point cloud is acquired by a plurality of laser radars on an unmanned vehicle at the same time;

a drawing unit configured to draw a distribution histogram of the at least one frame of point cloud with a height interval as an abscissa and a number as an ordinate;

and the output unit is configured to output calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.

7. The apparatus of claim 6, wherein the output unit is further configured to:

if the distribution histogram obeys unimodal distribution, outputting information for prompting that the plurality of laser radars are calibrated correctly;

and if the distribution histogram obeys multimodal distribution, outputting information for prompting the plurality of laser radar calibration errors.

8. The apparatus of claim 7, wherein the apparatus further comprises:

a first determining unit configured to determine that there are any lidar calibration errors in which the number of peaks is reduced by 1 if the number of peaks of the distribution histogram is not less than 2 and is less than the number of all lidar peaks;

a second determining unit configured to determine that there is a number of peaks minus 1 lidar calibration error or all lidar calibration errors if the number of peaks of the distribution histogram equals the number of all lidar calibration errors.

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.

10. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the method according to any one of claims 1-5.

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to a method and a device for outputting prompt information.

Background

The unmanned automobile is a novel intelligent automobile, also called as a wheel type mobile robot, and mainly obtains surrounding environment data through sensors (laser radar, cameras and the like), and after comprehensive analysis and calculation are carried out on the data, an instruction is sent out to respectively control different devices in the unmanned automobile, so that full-automatic operation of the automobile is realized, and the purpose of unmanned driving of the automobile is achieved.

Generally, unmanned vehicles achieve perception by installing a plurality of lidar. And the laser radars are fixed on the roof of the unmanned automobile by a fixing device and are used for calibrating external parameters. It is desirable that the external reference is not changed after calibration. However, in the actual operation process of the unmanned vehicle, the pose of the lidar is changed due to jolt, human factors or other unknown conditions of the unmanned vehicle, so that the pose of the obstacle perceived subsequently is wrong.

Disclosure of Invention

The embodiment of the application provides a method and a device for outputting prompt information.

In a first aspect, an embodiment of the present application provides a method for outputting a prompt message, including: acquiring at least one frame of point cloud acquired within a preset time period, wherein the same frame of point cloud is acquired by a plurality of laser radars on the unmanned vehicle at the same time; drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate; and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.

In some embodiments, outputting the calibration prompt information based on the distribution condition of the distribution histogram includes: if the distribution histogram obeys unimodal distribution, outputting information for prompting that the plurality of laser radars are calibrated correctly; and if the distribution histogram obeys multimodal distribution, outputting information for prompting a plurality of laser radar calibration errors.

In some embodiments, the method further comprises: if the number of the peaks of the distribution histogram is not less than 2 and less than the number of all laser radars, determining that the number of the peaks minus 1 laser radar calibration error exists; and if the number of the peaks of the distribution histogram is equal to the number of all the laser radars, determining that the number of the peaks minus 1 laser radar calibration error or all the laser radar calibration errors exist.

In some embodiments, the at least one frame of point cloud comprises one of: one frame point cloud, continuous frame point cloud, interval frame point cloud.

In some embodiments, the point cloud points of the same frame of point cloud acquired by the plurality of lidar are coordinate points in the same preset coordinate system, wherein the preset coordinate system comprises at least one of: an inertial measurement unit coordinate system, a vehicle coordinate system and a laser radar coordinate system.

In a second aspect, an embodiment of the present application provides an apparatus for outputting a prompt message, including: the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is configured to acquire at least one frame of point cloud acquired within a preset time period, and the same frame of point cloud is acquired by a plurality of laser radars on an unmanned vehicle at the same time; a drawing unit configured to draw a distribution histogram of at least one frame of point cloud with the height interval as an abscissa and the number as an ordinate; and the output unit is configured to output calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.

In some embodiments, the output unit is further configured to: if the distribution histogram obeys unimodal distribution, outputting information for prompting that the plurality of laser radars are calibrated correctly; and if the distribution histogram obeys multimodal distribution, outputting information for prompting a plurality of laser radar calibration errors.

In some embodiments, the apparatus further comprises: a first determining unit configured to determine that there is a laser radar calibration error in which the number of peaks minus 1 if the number of peaks of the distribution histogram is not less than 2 and is less than the number of all laser radars; a second determining unit configured to determine that there is a number of peaks minus 1 lidar calibration error or all lidar calibration errors if the number of peaks of the distribution histogram equals the number of all lidar calibration errors.

In some embodiments, the at least one frame of point cloud comprises one of: one frame point cloud, continuous frame point cloud, interval frame point cloud.

In some embodiments, the point cloud points of the same frame of point cloud acquired by the plurality of lidar are coordinate points in the same preset coordinate system, wherein the preset coordinate system comprises at least one of: an inertial measurement unit coordinate system, a vehicle coordinate system and a laser radar coordinate system.

In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device having one or more programs stored thereon; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described in any implementation of the first aspect.

In a fourth aspect, the present application provides a computer-readable medium, on which a computer program is stored, which, when executed by a processor, implements the method as described in any implementation manner of the first aspect.

According to the method and the device for outputting the prompt information, at least one frame of point cloud collected in a preset time period is obtained; then, drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate; and finally, outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram. Based on the distribution condition of the point cloud points in the distribution histogram, whether the laser radar installed on the unmanned vehicle needs to be calibrated again can be quickly determined, and the situation that the pose of the obstacle is perceived wrongly is favorably reduced.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is an exemplary system architecture to which the present application may be applied;

FIG. 2 is a flow diagram for one embodiment of a method for outputting toasts in accordance with the present application;

FIG. 3 is a flow diagram of yet another embodiment of a method for outputting toasts in accordance with the present application;

FIG. 4 is a schematic block diagram illustrating one embodiment of an apparatus for outputting toasts according to the present application;

FIG. 5 is a schematic block diagram of a computer system suitable for use in implementing an electronic device according to embodiments of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 shows an exemplary system architecture 100 to which embodiments of the method for outputting hint information or the apparatus for outputting hint information of the present application can be applied.

As shown in fig. 1, an unmanned automobile 101 may be included in the system architecture 100. The unmanned automobile 101 may be mounted with laser radars 1011, 1012, 1013, a network 1014, and a driving control device 1015. Network 1014 is the medium used to provide a communication link between lidar 1011, 1012, 1013 and driving control device 1015. Network 1014 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

The laser radars 1011, 1012, 1013 may interact with the driving control device 1015 via the network 1014 to receive or transmit messages or the like.

The laser radars 1011, 1012, 1013 may be radar systems that detect characteristic quantities such as the position, speed, and the like of an object with a laser beam. Specifically, when the laser beams emitted from the laser radars 1011, 1012, 1013 are irradiated to the target surface, the reflected laser beams carry information such as azimuth and distance. When the laser beams emitted from the laser radars 1011, 1012, 1013 are scanned along a certain trajectory, the reflected laser spot information is recorded while scanning, and since the scanning is extremely fine, a large number of laser spots can be obtained, and thus a laser point cloud can be formed.

The driving control device 1015, also referred to as an on-board brain, is responsible for intelligent control of the unmanned vehicle 101. The driving control device 1015 may be a separately provided controller, such as a programmable logic controller, a single chip microcomputer, an industrial controller, or the like; or the equipment consists of other electronic devices which have input/output ports and have the operation control function; but also a computer device installed with a vehicle driving control type application.

It should be noted that the method for outputting the prompt information provided in the embodiment of the present application is generally executed by the driving control device 1015, and accordingly, the apparatus for outputting the prompt information is generally provided in the driving control device 1015.

It should be understood that the number of driving control devices, networks and lidar in fig. 1 is merely illustrative. There may be any number of steering control devices, networks, and lidar devices, as desired for implementation.

With continued reference to FIG. 2, a flow 200 of one embodiment of a method for outputting toasts in accordance with the present application is shown. The method for outputting the prompt message comprises the following steps:

step 201, at least one frame of point cloud collected in a preset time period is obtained.

In the present embodiment, an executing subject (e.g., the driving control device 1015 shown in fig. 1) of the method for outputting prompt information may acquire at least one frame of point cloud acquired by a laser radar (e.g., the laser radars 1011, 1012, 1013 shown in fig. 1) within a preset time period (e.g., within the previous 1 minute). Generally, when each frame of point cloud is collected, the laser radar transmits the collected frame of point cloud to the execution subject in real time.

In practice, the lidar may be mounted on the roof of an unmanned vehicle (e.g., unmanned vehicle 101 shown in fig. 1) for collecting a point cloud of objects around the unmanned vehicle. Moreover, the unmanned vehicle can be provided with a plurality of laser radars, and the point cloud of the same frame is acquired by the plurality of laser radars on the unmanned vehicle at the same time. Each frame of point cloud may be composed of a number of point cloud points (laser points), and each point cloud point may include three-dimensional coordinates and laser reflection intensity. Usually, when calibrating external parameters for the lidar, a coordinate system is preset. And point cloud points in the same frame of point cloud collected by a plurality of laser radars on the same unmanned automobile are all coordinate points in the same preset coordinate system. The preset coordinate system may move along with the movement of the unmanned vehicle, such as a vehicle coordinate system, an IMU (Inertial measurement unit) coordinate system, a lidar coordinate system, and the like. It should be noted that, when the preset coordinate system is a laser radar coordinate system, the cloud points collected by different laser radars installed on the same unmanned vehicle are all coordinate points in the same laser radar coordinate system.

In some optional implementations of this embodiment, the at least one frame of point cloud acquired by the execution subject may include one of: the system comprises a plurality of laser radars, a plurality of laser.

Generally, the more the number of point cloud frames, the more realistic the distribution of the distribution histogram. To ensure the authenticity of the distribution, the performing entity usually obtains a plurality of frames of point clouds for analysis. For example, the executing entity may read a point cloud over a continuous period of time. In practice, the subject reading is performed as described above for a time period of 30 seconds or more, for example, for 1 minute. At this time, if the collecting frequency of the laser radar is 10 frames/second, the executing body may read 600 frames of point cloud. Each frame of point cloud may include twenty thousand point cloud points.

Step 202, drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate.

In this embodiment, the executing body may draw a distribution histogram of at least one frame of point cloud with the height interval as an abscissa and the number as an ordinate. Wherein, the height of the point cloud point in at least one frame of point cloud can be equal to the value of the Z coordinate in the three-dimensional coordinates of the point cloud point.

Here, the execution body may divide the height into a plurality of fine grain intervals, for example, the height intervals may include 0-0.1 meter, 0.1-0.2 meter, 0.2-0.3 meter, and the like. Subsequently, the executing body may count the number of point cloud points falling into each height interval, and draw a distribution histogram.

And step 203, outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.

In this embodiment, the execution subject may output calibration prompt information based on a distribution of point cloud points in the distribution histogram.

Generally, a laser beam emitted from a laser radar installed in an unmanned vehicle is mostly irradiated onto the ground. That is, a large portion of cloud points in at least one frame of point cloud belong to the ground. Although the ground is not completely flat, the height error of the point cloud point on the ground is between 2 and 3 centimeters. Therefore, most point cloud points in at least one frame of point cloud collected by the plurality of laser radars are ground point cloud points. If the multiple laser radars are calibrated correctly, ground point cloud points collected by different laser radars all fall into the same height interval. And the number of point cloud points falling within this height interval is significantly higher than the number of point cloud points falling within its neighboring interval. That is, the distribution histogram follows a normal unimodal distribution, and the height interval in which the ground point cloud point falls is a peak interval.

In some optional implementations of this embodiment, if the distribution histogram follows a unimodal distribution, it indicates that the cloud points of the plurality of lidar acquisition points installed on the unmanned vehicle are coordinate points in the same preset coordinate system. At this time, the execution main body can output information for prompting that the plurality of laser radars are calibrated correctly so as to prompt a user that the laser radars installed on the unmanned automobile do not need to be calibrated again. And if the distribution histogram obeys multimodal distribution, the cloud points of the plurality of laser radar acquisition points installed on the unmanned automobile are not coordinate points in the same preset coordinate system. At this time, the execution main body can output information for prompting a plurality of laser radars to be calibrated incorrectly so as to prompt a user that the laser radars installed on the unmanned automobile need to be calibrated again.

It should be appreciated that in practice, the plurality of lidar mounted on the same unmanned vehicle will typically be lidar of the same line bundle, e.g. 4 lines, 16 lines, 40 lines, 128 lines, etc. In addition, the method for outputting the prompt information provided by the embodiment of the application is also suitable for the laser radar for installing a plurality of different wire harnesses on the same unmanned automobile.

The method for outputting the prompt information, provided by the embodiment of the application, comprises the steps of firstly obtaining at least one frame of point cloud collected in a preset time period; then, drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate; and finally, outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram. Based on the distribution condition of the point cloud points in the distribution histogram, whether the laser radar installed on the unmanned vehicle needs to be calibrated again can be quickly determined, and the situation that the pose of the obstacle is perceived wrongly is favorably reduced.

With further reference to FIG. 3, a flow 300 of yet another embodiment of a method for outputting toasts in accordance with the present application is illustrated. The method for outputting the prompt message comprises the following steps:

step 301, acquiring at least one frame of point cloud collected in a preset time period.

And 302, drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate.

In the present embodiment, the specific operations of steps 301 and 302 have been described in detail in step 201 and 202 in the embodiment shown in fig. 2, and are not described herein again.

And step 303, outputting information for prompting that the plurality of laser radars are calibrated correctly if the distribution histogram obeys unimodal distribution.

In the present embodiment, the execution subject of the method for outputting the prompt information (e.g., the driving control apparatus 1015 shown in fig. 1) may analyze the distribution condition of the distribution histogram. If the distribution histogram obeys unimodal distribution, the cloud points of a plurality of laser radar acquisition points installed on the unmanned vehicle are all coordinate points in the same preset coordinate system. At this time, the execution main body can output information for prompting that the plurality of laser radars are calibrated correctly so as to prompt a user that the laser radars installed on the unmanned automobile do not need to be calibrated again.

And step 304, if the distribution histogram obeys multimodal distribution, outputting information for prompting a plurality of laser radar calibration errors.

In this embodiment, if the distribution histogram is subject to multimodal distribution, it is indicated that the cloud points of the plurality of lidar collection points installed on the unmanned vehicle are not coordinate points in the same preset coordinate system. At this time, the execution main body can output information for prompting a plurality of laser radars to be calibrated incorrectly so as to prompt a user that the laser radars installed on the unmanned automobile need to be calibrated again.

And 305, if the number of the peaks of the distribution histogram is not less than 2 and is less than the number of all the laser radars, determining that the number of the peaks minus 1 laser radar calibration error exists.

In this embodiment, if the number of peaks in the distribution histogram is not less than 2 and is less than the number of all the lidar peaks, the execution main body may determine that there is a calibration error between the number of peaks and 1 lidar peak. For example, 3 lidar systems are installed in an unmanned vehicle, and in the case of correct calibration of the lidar systems, 1 peak exists in the distribution histogram. When 1 lidar is calibrated incorrectly, the distribution situation of point cloud points acquired by the lidar with the calibration error is shifted, and at the moment, 2 peaks exist in a distribution histogram.

And step 306, if the number of the peaks of the distribution histogram is equal to the number of all the laser radars, determining that the number of the peaks minus 1 laser radar calibration error or all the laser radar calibration errors exist.

In this embodiment, if the number of peaks of the distribution histogram is equal to the number of all lidar calibration errors, the execution main body may determine that there is a number of peaks minus 1 lidar calibration error or all lidar calibration errors. For example, 3 lidar systems are installed in an unmanned vehicle, and in the case of correct calibration of the lidar systems, 1 peak exists in the distribution histogram. When there are 2 lidar calibration errors, the distribution situation of point cloud points collected by the 2 lidar calibration errors is shifted, and at this time, there are 3 peaks in the distribution histogram. In addition, when there are 3 lidar calibration errors, the distribution of the point cloud points collected by the 3 lidar calibration errors will shift, and at this time, there are 3 peaks in the distribution histogram.

As can be seen from fig. 3, compared with the embodiment corresponding to fig. 2, the process 300 of the method for outputting the prompt information in the present embodiment increases the steps of determining the number of the laser radars with calibration errors. Therefore, the scheme described in the embodiment can quickly determine the number of the laser radars with wrong calibration through the number of the peaks of the distribution histogram.

With further reference to fig. 4, as an implementation of the method shown in the above-mentioned figures, the present application provides an embodiment of an apparatus for outputting a prompt message, where the embodiment of the apparatus corresponds to the embodiment of the method shown in fig. 2, and the apparatus may be applied to various electronic devices.

As shown in fig. 4, the apparatus 400 for outputting prompt information of the present embodiment may include: an acquisition unit 401, a rendering unit 402, and an output unit 403. The acquiring unit 401 is configured to acquire at least one frame of point cloud acquired within a preset time period, wherein the same frame of point cloud is acquired by a plurality of laser radars on the unmanned vehicle at the same time; a drawing unit 402 configured to draw a distribution histogram of at least one frame of point cloud with the height interval as abscissa and the number as ordinate; and an output unit 403 configured to output calibration prompt information based on the distribution of the point cloud points in the distribution histogram.

In the present embodiment, in the apparatus 400 for outputting prompt information: the specific processing of the obtaining unit 401, the drawing unit 402 and the output unit 403 and the technical effects thereof can refer to the related descriptions of step 201 and step 203 in the corresponding embodiment of fig. 2, which are not repeated herein.

In some optional implementations of this embodiment, the output unit 403 is further configured to: if the distribution histogram obeys unimodal distribution, outputting information for prompting that the plurality of laser radars are calibrated correctly; and if the distribution histogram obeys multimodal distribution, outputting information for prompting a plurality of laser radar calibration errors.

In some optional implementations of the present embodiment, the apparatus 400 for outputting the prompt message further includes: a first determining unit (not shown in the figure) configured to determine that there is a laser radar calibration error in which the number of peaks is reduced by 1 if the number of peaks of the distribution histogram is not less than 2 and is less than the number of all laser radars; a second determining unit (not shown in the figure) configured to determine that there is a number of peaks minus 1 lidar calibration error or all lidar calibration errors if the number of peaks of the distribution histogram equals the number of all lidar calibration errors.

In some optional implementations of this embodiment, the at least one frame of point cloud includes one of: one frame point cloud, continuous frame point cloud, interval frame point cloud.

In some optional implementations of this embodiment, the point cloud points of the same frame of point cloud collected by the plurality of laser radars are coordinate points in the same preset coordinate system, where the preset coordinate system includes at least one of the following: an inertial measurement unit coordinate system, a vehicle coordinate system and a laser radar coordinate system.

Referring now to FIG. 5, a block diagram of a computer system 500 suitable for use in implementing an electronic device (e.g., the steering control device 1015 shown in FIG. 1) of an embodiment of the present application is shown. The electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the method of the present application when executed by the Central Processing Unit (CPU) 501.

It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or electronic device. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes an acquisition unit, a rendering unit, and an output unit. The names of the units do not constitute a limitation to the unit itself in this case, and for example, the acquiring unit may also be described as a "unit that acquires at least one frame of point cloud acquired within a preset time period".

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring at least one frame of point cloud acquired within a preset time period, wherein the same frame of point cloud is acquired by a plurality of laser radars on the unmanned vehicle at the same time; drawing a distribution histogram of at least one frame of point cloud by taking the height interval as an abscissa and the number as an ordinate; and outputting calibration prompt information based on the distribution condition of the point cloud points in the distribution histogram.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.