A target identification method and device based on laser scanning

Abstract

The invention provides a target identification method and device based on laser scanning, and the method comprises the steps: obtaining the data of each point obtained through the laser scanning reflection of a to-be-identified scene through a laser radar, and calculating the three-dimensional coordinate value of each point according to the data of each point, wherein the data comprises a linear distance value between a sampling point scanned by the laser radar and the laser radar; obtaining a two-dimensional coordinate value of each point according to the three-dimensional coordinate value ofeach point, and clustering each point according to the linear distance value of each point and the two-dimensional coordinate value of each point to generate a plurality of categories; calculating each piece of target information according to the two-dimensional coordinate values of each category of points formed by clustering; and determining each target in the to-be-identified scene according to each piece of target information. In order to solve the problem that the horizontal resolution and the vertical resolution of the vehicle-mounted laser radar are different, the density clustering algorithm is adopted for clustering, the clustering radius is self-adaption about the linear distance, the obtained clustering result is good, and therefore the target identification precision is improved.

Description

technical field

[0001] The invention relates to the technical field of computer processing, in particular to a laser scanning-based target recognition method and device. Background technique

[0002] With the continuous development of the automobile industry, unmanned driving technology has become a research hotspot in the field of intelligent transportation and artificial intelligence. Its development will greatly improve the efficiency and safety of the transportation system, which is of great significance to modern transportation systems and smart cities. .

[0003] In most driverless cars, lidar has become an indispensable part as a sensor for environmental perception. For target recognition in unmanned vehicles, the first type of scheme only uses laser radar point cloud data for target recognition, but does not consider the characteristics of different horizontal and vertical resolutions of lasers, and the distribution of target point clouds scanned by lasers is uneven...

Images