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A target point cloud segmentation method

A technology of target points and coordinate points, applied in the field of target segmentation, can solve the problems of slow calculation speed, large amount of calculation, inaccurate segmentation, etc.

Active Publication Date: 2021-11-30
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a target point cloud segmentation method to solve the problems of large amount of calculation, slow calculation speed and inaccurate segmentation in the existing laser radar segmentation method

Method used

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Embodiment Construction

[0053] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

[0054] A specific embodiment of the present invention discloses a target point cloud segmentation method. The laser radar carried on the platform involved in this embodiment is a Velodyne 64-line laser radar. When in use, the laser radar is installed on the top of the platform, and the installation effect diagram like figure 1 shown. In addition, other types of laser radars can also be preferred. For 16-line and 32-line laser radars, the segmentation accuracy will be different.

[0055] figure 2 A flowchart corresponding to the method is shown, including the following steps:

[0056] Step...

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Abstract

The invention relates to a target point cloud segmentation method, which belongs to the technical field of target segmentation and solves the problems of large calculation amount, slow calculation speed and inaccurate segmentation in the existing laser radar segmentation method. The method includes the following steps: Step S1: receiving and processing the lidar point cloud data collected by the lidar, and obtaining the depth map corresponding to the lidar point cloud data; step S2: identifying the ground information in the angle matrix of the depth map, and converting the depth map The R value of the corresponding coordinate in is set to ‑1 to obtain a depth map with ground information removed; Step S3: Carry out target segmentation on the depth map with ground information removed to obtain the target segmentation result. The rapid segmentation of the target point cloud is realized, the calculation amount is small, and the calculation result is accurate, which can meet the real-time target segmentation requirements when the vehicle is moving.

Description

technical field [0001] The invention relates to the technical field of target segmentation, in particular to a target point cloud segmentation method. Background technique [0002] With the development of computer information technology and sensor technology, unmanned driving perception technology has achieved rapid development. Among them, the segmentation technology of scene objects used to convert sensor raw data into target semantic data is the focus of research in the field of driverless perception. Most of the current unmanned vehicles are based on a single sensor, and the main sensors used are cameras and laser radars. [0003] The main disadvantage of camera-based scene target segmentation is that it is difficult for the visual algorithm to obtain the distance information of the current scene target, which cannot meet the positioning requirements; or use a depth camera with a depth information recording function, but cannot achieve longer-distance detection. , and ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/136G06T5/00
CPCG06T7/11G06T7/136G06T2207/10028G06T5/70
Inventor 龚建伟张海鸣王羽纯齐建永吴绍斌熊光明
Owner BEIJING INSTITUTE OF TECHNOLOGYGY