Determination method, processing method and device for abnormal frame point cloud data of lidar
A point cloud data, lidar technology, applied in measurement devices, re-radiation of electromagnetic waves, instruments, etc., can solve the problem of not providing reliable and effective methods, and achieve the effect of improving accuracy
Active Publication Date: 2020-07-24
GOERTEK INC
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Problems solved by technology
Regarding the judgment of the abnormal data obtained by the laser radar measurement, the current existing technology does not provide a reliable and effective method. Therefore, it is necessary to provide a new technical solution to solve the above technical problems
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[0063] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
[0064] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.
[0065] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.
[0066] In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have dif...
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The invention discloses a determination method and apparatus for abnormal-frame point cloud data of a laser radar and a processing method and device for abnormal-frame point cloud data of a laser radar. The determination method comprises the following steps that: to-be-detected point cloud data, a preset frame number of point cloud data before the to-be-detected point cloud data, and a preset frame number of point cloud data after the to-be-detected point cloud data are obtained, wherein the to-be-detected point cloud data, the preset frame number of point cloud data before the to-be-detectedpoint cloud data, and the preset frame number of point cloud data after the to-be-detected point cloud data are measured by the laser radar and one frame of point cloud data are obtained by completingone cycle of scanning by the laser radar according to a scanning angle range; a first distance between average values of the to-be-detected point cloud data and the preset frame number of point clouddata before the to-be-detected point cloud data as well as a second distance between average values of the to-be-detected point cloud data and the preset frame number of point cloud data after the to-be-detected point cloud data is determined; the first distance and the second distance are compared with a preset distance threshold value respectively to obtain a comparison result; and when the comparison result shows that the first distance and the second distance are both greater than the preset distance threshold, the to-be-detected point cloud data are determined to be abnormal-frame pointcloud data.
Description
technical field [0001] The present invention relates to the technical field of laser radar data processing, and more specifically, to a method for determining point cloud data of abnormal frames of laser radar, a method for processing point cloud data of abnormal frames of laser radar, and an abnormal frame of laser radar A point cloud data determining device and a laser radar abnormal frame point cloud data processing device. Background technique [0002] Now the development of lidar has penetrated into all walks of life, such as sweeping robots, autonomous driving and other technical fields. [0003] When the lidar is working, the objects in the scene will interfere with the signal reflected by the target object, or when the lidar system is abnormal at a certain moment, the data measured by the lidar will be abnormal data. [0004] For application scenarios that have relatively high requirements on the accuracy of lidar measurement, for example, in application scenarios i...
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IPC IPC(8): G01S17/02G01S17/42G01S17/93
CPCG01S17/006G01S17/06G01S17/88
Inventor 马立刘宏坤闫秀英
Owner GOERTEK INC