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A loose point cloud data segmentation method and device

A technology for point cloud data and device segmentation, used in character and pattern recognition, instrumentation, computing, etc.

Active Publication Date: 2018-11-06
FUZHOU HUAYING HEAVY IND MACHINERY
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Problems solved by technology

[0006] The invention provides a loose point cloud data segmentation method to solve the problem of large data volume and real-time requirements for loose point cloud data segmentation

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  • A loose point cloud data segmentation method and device
  • A loose point cloud data segmentation method and device
  • A loose point cloud data segmentation method and device

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Embodiment Construction

[0032] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. It may be evident, however, that such aspects may be practiced without these specific details.

[0033] see Figure 1-Figure 2c , the inventor provides a loose point cloud data segmentation method, including steps:

[0034] S101 establishes an unstructured regional grid G ​​according to the point cloud data A collected by the three-dimensional sensor;

[0035] S102. Calculate the gradient of each node in the point cloud data A based on the regional grid G, and extract points belonging to the ground according to the gradient of each node in the point cloud data A;

[00...

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Abstract

The inventor provides a loose point cloud data segmentation method and device. The present invention relates to the segmentation of 3D point cloud data generated by 3D laser radar, in particular to the segmentation of loose point cloud data. The method includes steps: S101 establishing an unstructured regional grid G ​​based on the point cloud data A collected by a three-dimensional sensor; S102, calculating the gradient of each node in the point cloud data A based on the unstructured regional grid G , extract points belonging to the ground according to the gradient of each node in the point cloud data A; S103, cluster and segment the points belonging to the non-ground in the point cloud data A. The above method efficiently establishes the clustering of the subdivision on the ground through the connection topology of the unstructured regional network.

Description

technical field [0001] The invention relates to the segmentation of three-dimensional point cloud data generated by three-dimensional laser radar, in particular to the segmentation of loose point cloud data. Background technique [0002] In the field of unmanned vehicles (or other robots), the 3D point cloud generated by the 3D lidar (or 3D laser ranging sensor) is used for accurate detection and scanning of the environment by the unmanned vehicle, the establishment of a high-resolution environmental map and the The positioning of the vehicle itself in the environment becomes increasingly important. Therefore, the processing of point cloud models, such as surface reconstruction, segmentation, and feature extraction of point cloud data, has become a research hotspot. [0003] Segmentation of point cloud data is the process of identifying regions with the same attributes (spatial location, geometry, laser intensity, spectral features, etc.) in the point cloud. As an importan...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/62
CPCG06F18/232
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY
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