Point cloud extraction method and device for columnar object

An extraction method and an extraction device technology, which are applied in the field of point cloud extraction methods and devices for columnar objects, can solve the problems of columnar object recognition failure and low efficiency of columnar object recognition, and achieve the effect of improving recognition efficiency

Active Publication Date: 2016-06-22
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, if the columnar object is attached to other objects (such as tree crowns, isolation belts, guardrails, etc.)

Method used

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  • Point cloud extraction method and device for columnar object
  • Point cloud extraction method and device for columnar object
  • Point cloud extraction method and device for columnar object

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] figure 1 The flow chart of the point cloud extraction method for columnar objects provided by Embodiment 1 of the present invention, this embodiment is applicable to the situation of extracting columnar object point clouds from road point clouds, and this method can be used to extract columnar object point clouds The terminal is executed, and the terminal can be a server, a personal computer, a notebook computer, a tablet computer, a car center console, a smart phone or a smart wearable device, etc., and the method includes:

[0030] S110. Merge the collected single-frame point clouds into a dense point cloud set.

[0031] The laser point cloud acquisition device acquires a single frame point cloud every preset time period (such as 0.1 or 1 second). The road section where the column may exist is judged manually or by machine, and multiple single-frame point clouds corresponding to the road section are merged. When merging, two adjacent single-frame point clouds corresp...

Embodiment 2

[0046] image 3 The flow chart of the point cloud extraction method for columnar objects provided by Embodiment 2 of the present invention. In the process of implementing the above embodiment, the inventor found that because the single frame road point cloud includes road surface point cloud and roadside guardrail point cloud, traffic lights Point clouds, green belt point clouds, road sign point clouds and even vehicle point clouds, so when multiple single-frame road point clouds are merged into a dense point cloud, the data volume of the dense point cloud is large, which in turn affects point cloud processing speed. Based on this, S120, searching for linear point cloud blocks from the dense point cloud collection can be implemented in the following manner:

[0047] S121. Cut the dense point cloud set according to the direction of the vehicle trajectory to obtain at least one point cloud block.

[0048] When obtaining a single frame point cloud, the vehicle carrying the poin...

Embodiment 3

[0064] Figure 4 The flow chart of the point cloud extraction method for columnar objects provided in Embodiment 3 of the present invention, optional, S130, slice the linear point cloud block to obtain a piece of point cloud, which can be implemented in the following manner:

[0065] S131. Construct a three-dimensional grid.

[0066] The size of the 3D mesh can be defined by the user. The space v occupied by each grid unit of the constructed three-dimensional grid should satisfy: 5cm*5cm*5cm≤v≤30cm*30cm*30cm. Preferably, v=20cm*20cm*20cm.

[0067] S132. Slicing the linear point cloud block according to the three-dimensional grid to obtain a piece point cloud.

[0068] by figure 2 Take the coordinate system shown as an example. If the direction of the linear point cloud is the z-axis direction, start from the ground and cut the linear point cloud along the horizontal direction every 20cm. A sheet-shaped point cloud is obtained. The thickness of each point cloud in the z-a...

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Abstract

The invention discloses a point cloud extraction method and device for a columnar object. The method includes the steps of: merging collected single frames of point clouds into a dense point cloud set; searching a line type point cloud block in a preset direction from the dense point cloud set; slicing the line type point cloud block to obtain piece point clouds; searching from the piece point clouds at least one candidate piece point cloud whose periphery is empty space; determining at least one columnar object point cloud according to the at least one candidate piece point cloud; and identifying the at least one columnar point cloud according to a preset columnar object model. The method analyzes the piece point clouds to obtain the adhesion condition of each piece point cloud of the columnar object with the other object, thereby obtaining the adhesion condition of the point clouds of the columnar object with the other object, and achieving an effect of identifying columnar object point clouds adhered to the other object. An effect of identifying from road point clouds a columnar object adhered to the other object is realized, and the identification efficiency of the columnar object is improved.

Description

technical field [0001] The embodiment of the present invention relates to a point cloud data processing technology, in particular to a method and device for extracting a point cloud of a columnar object. Background technique [0002] The 3D high-precision map is recognized by the industry and academia as the main development direction of the next generation of digital maps. It is the prerequisite for the realization of automatic driving and assisted driving, and provides the main basis for accurate positioning and correct decision-making of autonomous vehicles. An important part of the 3D high-precision map is to identify pillars from the road point cloud, where the pillars are objects containing pillars, such as traffic lights and road signs. [0003] In the prior art, the point cloud of the columnar object is obtained through the growth of the spatial region, and it is judged whether the shape of the point cloud of the columnar object matches the shape of the predefined co...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06K9/00G06K9/62
CPCG06T7/0002G06T2207/30252G06T2207/10028G06V20/56G06F18/24
Inventor 姜雨晏阳关书伟蒋昭炎
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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