(EN) A multi-channel lidar point cloud interpolation method and a ranging apparatus (100, 200), the method comprising: acquiring initial point cloud data, the initial point cloud data being obtained by detecting a target scene by means of multi-channel lidar, the initial point cloud data comprising sample points of the multiple channels, and each channel comprising a plurality of sampling points obtained by sequential sampling; and inserting at least one first interpolation point between adjacent sampling points of different channels and inserting at least one second interpolation point between adjacent sampling points in the same channel to obtain new point cloud data. The method performs two-dimensional interpolation for multi-line lidar and, as multi-line lidar is used for interpolation between adjacent sampling points, the amount of calculation required and the space required for storage are reduced and the number of sampling points increased, being more conducive to the use of point clouds by upper-level applications.
(ZH) 一种多通道激光雷达点云插值的方法和测距装置(100,200)，其中方法包括：获取初始点云数据，初始点云数据是通过多通道激光雷达对目标场景进行探测得到的，初始点云数据包括多个通道的采样点，其中每个通道包含先后采样得到的多个采样点；在不同通道的相邻采样点之间插入至少一个第一插值点，在同一通道的相邻采样点之间插入至少一个第二插值点，得到新点云数据。方法是针对多线激光雷达进行二维插值，由于使用多线激光雷达相邻采样点之间进行插值，减少了所需要的计算量和存储所需要的空间，增加了采样点数，更加有利于上层应用使用点云。
