A 3D point cloud segmentation method based on multi-line lidar

A multi-line laser and 3D technology, applied in 3D modeling, 3D image processing, instruments, etc., can solve problems such as false detection of obstacle points, low complexity, and impact on real-time performance, so as to improve the speed of clustering, Satisfies real-time performance and good filtering effect
CN106204705BActive Publication Date: 2018-12-07CHANGAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
CHANGAN UNIV
Publication Date
2018-12-07

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Abstract

The invention discloses a multiline laser radar-based 3D point cloud segmentation method. The method comprises the following steps of: 1) scanning 3D point cloud data in a 360-degree range by utilizing multiline laser radar, establishing a Cartesian coordinate system OXYZ, converting the 3D point cloud data under the Cartesian coordinate system, and pre-processing the 3D point cloud data under the Cartesian coordinate system so as to determine a region of interest in the 3D point cloud data; 2) filtering suspended obstacle points in the region of interest by utilizing the statistic characteristics of adjacent points; 3) constructing a polar coordinates grid map, mapping the 3D point cloud data, the suspended obstacle points of which are filtered, into the polar coordinates grid map, and segmenting non-ground point cloud data from the 3D point cloud data in the polar coordinates grid map; and 4) voxelizing the non-ground point cloud data by utilizing an octree and carrying out clustering segmentation by adoption of an octree voxel grid-based region growing method. The method can improve the operation efficiency, is high in detection precision and strong in reliability, and can be widely applied to the technical field of vehicle environment perception.
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Description

technical field

[0001] The invention relates to the technical field of radar point cloud data processing, in particular to a segmentation method based on multi-line laser radar 3D point cloud data. Background technique

[0002] In recent years, since 3D laser sensors such as Velodyne can obtain accurate depth information and are not affected by complex environmental factors such as illumination and weather changes, they have been widely used in the fields of environment perception and 3D reconstruction of unmanned vehicles. The 3D point cloud data obtained by scanning the surrounding scene with a multi-line laser sensor such as Velodyne contains reflection data of almost all objects in the surrounding environment of the sensor. By correspondingly processing the scanned point cloud data, the purpose of detecting and identifying obstacles in the scanning scene can be achieved.

[0003] Occasionally, due to the sensor itself, a small number of radar error reflection points are...

Claims

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