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Laser radar point cloud target segmentation method and device, target matching method and device and vehicle

A radar target and target technology, which is applied in the fields of devices and vehicles, target matching methods, and lidar point cloud target segmentation methods, can solve problems such as misclassification and unreliability, and achieve the goal of improving stability, avoiding accidents, and reducing computational complexity. Effect

Active Publication Date: 2019-08-13
NAVINFO
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Problems solved by technology

If the threshold is increased, two targets that are very close will be misclassified as the same class
Therefore, it is extremely unreliable to use a threshold to judge whether it is the same category

Method used

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  • Laser radar point cloud target segmentation method and device, target matching method and device and vehicle
  • Laser radar point cloud target segmentation method and device, target matching method and device and vehicle
  • Laser radar point cloud target segmentation method and device, target matching method and device and vehicle

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Embodiment Construction

[0040] Certain terms are used, for example, in the description and claims to refer to particular components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use the difference in name as a way to distinguish components, but use the difference in function of components as a criterion for distinguishing. As mentioned throughout the specification and claims, "comprising" is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect. The subsequent description of the specification is a preferred implementation mode for implementing the application, but the description is for the purpose of illustrating the general principle of the application, and is not intended...

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Abstract

The invention discloses a laser radar point cloud target segmentation method and device, a target matching method and device and a vehicle. The target segmentation method comprises the steps of classifying point clouds obtained by scanning a target through a multi-line laser radar, and obtaining subclasses of the same target point cloud; projecting the point cloud of the subclass to a two-dimensional plane; obtaining an outer envelope box of each subclass; and combining the subclasses intersected with the outer envelope boxes into one class. According to the method, the outer envelope box merges the subclasses after point cloud segmentation, and a threshold value is not needed when the subclasses are merged, so that the defect that the threshold value is difficult to determine in the priorart is avoided. By changing the point cloud classification method, the operation amount is reduced, the target is incorporated into one database, the target of the new frame is compared and identified with the target in the database, the situation that the target is lost in some frames is effectively coped with, and accidents are avoided.

Description

technical field [0001] The present application relates to a laser radar point cloud, in particular to a laser radar point cloud target segmentation method, target matching method, device and vehicle. Background technique [0002] In the prior art, in order to track a target, matching in different image frames is particularly important. The technical solutions adopted in the prior art mainly include: extracting the geometric features of the target, then calculating the geometric similarity between the targets in the two frames before and after, predicting the position in the current frame according to the geometric similarity and the speed at the previous moment, and finally Realize the matching of the target between two frames; then calculate the distance difference between the same object point (inflection point, center point, etc.) of the same object in the two frames, and obtain the speed by the time between the two frames. Due to the scanning instability of the target s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G01S17/66G01S17/58
CPCG01S17/66G01S17/58G06F18/24
Inventor 杨贵
Owner NAVINFO
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