Quick barrier detection method

A detection method and obstacle technology, applied to radio wave measurement systems, instruments, etc., can solve the problems of long time consumption, large time consumption, and slow processing speed of large-scale point cloud data processing, and overcome the slow data processing speed , Fast processing speed, avoiding missed detection and false detection

Inactive Publication Date: 2016-12-07
NINGBO ONSIGHT CO LTD
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Problems solved by technology

This processing scheme consumes a lot of time in calculation, and the detection efficiency for a single scene such as the road boundary is relatively good, but for the detection of pedestrians, vehicles and other obstacles on the road, the time consumption is very large
[0006] These methods have limitations. The detection accuracy based on visual information will decrease in the case of weak light. The other two radar-based methods have slow processing speed and consume a lot of time for large-scale point cloud data processing. longer time

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Embodiment Construction

[0026] The inventive concepts of the present disclosure are described below using terms commonly used by those skilled in the art to convey the substance of their work to others skilled in the art. These inventive concepts may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of inclusion to those skilled in the art. It should also be noted that these embodiments are not mutually exclusive. Components, steps or elements from one embodiment may be assumed to be present or used in another embodiment. Various alternative and / or equivalent implementations may be substituted for the specific embodiments shown and described without departing from the scope of the embodiments of the present disclosure. This application is intended to cover any adaptations or variations of the embodiments...

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Abstract

The embodiment of the invention relates to a quick barrier detection method. The method comprises the steps that a two-dimensional grid map is established on the basis of point cloud data of a three-dimensional radar, the attributes of grids are calculated to determine impassable areas, points of which the scanning line gradient values exceed predetermined threshold values in the impassable areas are determined as barrier points, and correlation clustering is conducted on the barrier points by traversing the grid map.

Description

technical field [0001] The disclosure belongs to the technical field of computer vision and laser radar data processing, and in particular relates to a method for fast obstacle detection. Background technique [0002] The detection of obstacles in traffic scenes is of great significance for unmanned vehicles and / or robots to accurately perceive the surrounding environment information and make safe driving decisions. Obstacle detection based on visual information is highly dependent on the environment. In the case of poor lighting or bad weather, the captured video will have a greater impact on the result detection error. Therefore, this disclosure chooses to use the method based on 16-line lidar data for detection. The method based on 16-line lidar has many advantages. On the one hand, the data acquired by lidar has strong anti-interference ability and is less dependent on the environment. On the other hand, compared with other types of lidar, the price of 16-line lidar i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor 朱少岚
Owner NINGBO ONSIGHT CO LTD
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