Pedestrian traffic parameter extraction method based on mobile laser scanning

A technology for pedestrian traffic and parameter extraction, which is applied in the direction of instruments, character and pattern recognition, computer components, etc., can solve the problem of expensive sensors and achieve the effect of low price

Active Publication Date: 2017-04-19
TONGJI UNIV
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Problems solved by technology

One reason is that the sensors required to obtain accurate data are expensive and require multi-sensor fusion

Method used

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  • Pedestrian traffic parameter extraction method based on mobile laser scanning
  • Pedestrian traffic parameter extraction method based on mobile laser scanning
  • Pedestrian traffic parameter extraction method based on mobile laser scanning

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example

[0040] Example: Obstacle grid map

[0041] From the perspective of vehicles, the flow of people, bicycles and trees are all types of obstacles. The obstacle map is first generated, and then the grid is labeled according to the characteristics of the target object. The grid map discretizes the three-dimensional points and estimates the cell state based on the data of each cell. But when the target is scattered to multiple cells, the target recognition will be very inaccurate due to the loss of data integrity. The invention proposes an area labeling method based on an obstacle grid map to improve the integrity of clustering.

[0042] To generate a grid map for obstacles, it is first necessary to determine what is an obstacle, and then to determine the cell properties. One of the main characteristics of an obstacle is that it has a certain height above the ground, so the point cloud in the cell can be traversed. If the density and height of the point cloud meet certain require...

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Abstract

The invention belongs to a pedestrian traffic parameter extraction method based on mobile laser scanning, and belongs to the technical field of microscopic traffic parameter obtaining. The method comprises the steps: collecting surrounding point cloud of a vehicle through a three-dimensional laser scanner installed on the vehicle; obtaining different types of data objects through data segmentation, clustering, and detection; recognizing a pedestrian, and extracting fixed objects on a road; carrying out the matching of fixed ground objects in two data frames; calculating the movement distance of an autonomous vehicle in the two frames; calculating the speed of a vehicle; and finally carrying out the statistics of traffic parameters of a pedestrian flow. The method is specifically characterized in that a VLP-16 small-size laser radar from the Velodyne company is used for collecting the dynamic data of pedestrians on a road and the surroundings, and the cost is low; for the correlation of target data and the extraction of traffic parameters, the method employs a nearest neighbor method with reflection information in order to obtain the accurate matching information in the multiframe data, and solves a problem of target matching well.

Description

technical field [0001] The invention relates to the technical field of acquiring microscopic traffic parameters, and specifically provides a method for extracting pedestrian traffic parameters based on mobile laser scanning. Background technique [0002] Due to weak traffic awareness, traffic accidents caused by non-motor vehicles and pedestrians have become an important part of traffic accidents in our country. Therefore, it is particularly important to carry out active identification and active safety warning of non-motor vehicles and pedestrians for drivers. Laser scanning technology has been researched and applied in many aspects such as urban modeling and vegetation analysis. Based on the Velodyne sixteen-line laser scanner, the present invention detects various types of data such as motor vehicles, bicycles, pedestrians, and ground objects around the vehicle, and obtains different types of data objects through data segmentation and classification. Taking the pedestri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V40/10G06F18/23G06F18/241
Inventor 吴杭彬黄伟泉刘豆于鹏飞
Owner TONGJI UNIV
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