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Point cloud data processing method and device, and computer readable storage medium

A point cloud data and processing method technology, applied in the field of data processing, can solve the problem that point cloud data processing technology cannot separate point cloud data, etc.

Active Publication Date: 2018-05-18
SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD
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Problems solved by technology

[0003] The main purpose of the present invention is to provide a point cloud data processing method, device and computer-readable storage medium, aiming at solving the problem that the existing point cloud data processing technology cannot accurately and comprehensively integrate drivable road surface point cloud data and point cloud data of other areas. The problem of cloud data separation

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  • Point cloud data processing method and device, and computer readable storage medium
  • Point cloud data processing method and device, and computer readable storage medium
  • Point cloud data processing method and device, and computer readable storage medium

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Embodiment Construction

[0037] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0038] Since the existing point cloud data processing methods are mainly used to detect and identify horizontal ground, only the horizontal ground is used as a feasible area, and the feasible slope is used as an obstacle, such as the approach road surface of an overpass. The existing point cloud data processing technology cannot accurately and comprehensively separate the drivable road surface point cloud data from the original point cloud data.

[0039] In order to solve the above-mentioned technical problems, the present invention provides a method for processing point cloud data. In this method, the first point cloud data in the preset range scanned by the scanning device is obtained first, and then the first point cloud is detected by using a preset algorithm. According to the plane feature of the data, the second...

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Abstract

The invention discloses a point cloud data processing method, which comprises the following steps that: obtaining scanning equipment to scan first point cloud data in a preset range; utilizing a preset algorithm to detect the plane characteristics of the first point cloud data to obtain second point cloud data; and on the basis of a preset model, determining a pavement model in the second point cloud data, and extracting third cloud point data corresponding to the pavement model. The invention also discloses a point cloud data processing device and a computer readable storage medium. By use ofthe point cloud data processing method and device and the computer readable storage medium, the pavement point cloud data capable of driving can be accurately separated from original point cloud data.

Description

technical field [0001] The present invention relates to the field of data processing, in particular to a point cloud data processing method, device and computer-readable storage medium. Background technique [0002] The 3D point cloud data analysis of vehicle-mounted lidar generally first separates ground data and non-ground data. The advantage of this is to reduce the amount of data, improve real-time performance, and facilitate rapid detection of obstacles and determine the driving area of ​​​​the vehicle. Common ground detection methods include grid-based methods, classifier-based methods, and model-based methods. Among them, the grid-based method refers to dividing the point cloud data into grids, calculating the height difference and average height of the point cloud data in each grid, and the height gradient of the point cloud data between adjacent grids. These information are used to judge whether the grid belongs to ground data. The classifier-based method refers t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/30
CPCG06F16/215
Inventor 刘新宋朝忠郭烽单单陈潇
Owner SHENZHEN ECHIEV AUTONOMOUS DRIVING TECH CO LTD
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