Method for identifying objects in 3D point cloud data

A point cloud data, target recognition technology, applied in the field of environmental perception, can solve the problems of reducing the description accuracy, recognition accuracy discount, etc.
CN104298971AActive Publication Date: 2015-01-21BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2015-01-21

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Abstract

The invention discloses a method for identifying objects in 3D point cloud data. 2D SIFT features are extended to a 3D scene, SIFT key points and a surface normal vector histogram are combined to achieve scale-invariant local feature extraction of 3D depth data, and the features are stable and reliable. A provided language model overcomes the shortcoming that a traditional visual word bag model is not accurate and is easily influenced by noise when using local features to describe global features, and the accuracy of target global feature description based on the local features is greatly improved. By means of the method, the model is accurate, and identification effect is accurate and reliable. The method can be applied to target identification in all outdoor complicated or simple scenes.
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Description

technical field

[0001] The invention belongs to the technical field of environmental perception, and in particular relates to a language model-based target recognition method in 3D point cloud data, which is used for environmental perception, indoor target recognition and navigation of autonomous unmanned intelligent vehicles. Background technique

[0002] With the development of science and technology, the research of autonomous unmanned intelligent vehicles has increasingly become one of the research hotspots of research institutions in various countries. Autonomous unmanned intelligent vehicles can effectively reduce the death rate of traffic accidents, complete operations in dangerous environments under unmanned conditions, and greatly improve the intelligence level of human life. Environmental perception technology is one of the core technologies of autonomous smart vehicles. LiDAR and camera are the core environmental perception sensors in current unmanned vehicle tec...

Claims

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