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A method to obtain point cloud road height in unity

A point cloud and height technology, applied in image analysis, instruments, calculations, etc., can solve problems such as low degree of automation and point cloud height will not be completely flat, so as to reduce workload, reduce human error, and reduce memory usage Effect

Active Publication Date: 2020-04-14
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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Problems solved by technology

[0003] When using point cloud maps to edit vector information, it is necessary to obtain point cloud road height information. Usually, the point cloud height will not be completely flat when building a map. Therefore, the existing point cloud road height information is mostly obtained manually, and the degree of automation is not high. Phenomena such as missed measurement, wrong measurement, missing drawing, and wrong drawing occur from time to time

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  • A method to obtain point cloud road height in unity
  • A method to obtain point cloud road height in unity
  • A method to obtain point cloud road height in unity

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Embodiment

[0045] As a general-purpose graphics engine, Unity integrates a third-party physics engine, which can meet the needs of physics and image simulation in the field of autonomous driving. Thanks to these advantages, we can implement a new method of efficiently obtaining lidar point clouds in the newer version of Unity. The overall implementation process is as follows figure 1 shown, including the following steps:

[0046] Step 1. Obtain the point cloud map of the entire scene.

[0047] Step 2: Segment the point cloud map to obtain multiple blocks, that is, figure 2 As shown, the point cloud of the whole scene is divided into small point clouds according to the blocks.

[0048] Generally, at least the following two methods can be used to obtain the segmented blocks: (1) The block segmentation is completed in the point cloud map export stage, and a small point cloud map file (usually a pcd file) is exported.

[0049] (2) Use the Unity engine to segment the point clo...

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Abstract

The invention provides a method for obtaining the height of a point cloud pavement in Unity. The method comprises the steps of obtaining a point cloud map of a whole scene, segmenting the point cloudmap to obtain a plurality of blocks, carrying out point cloud height calculation on each block of point cloud, outputting a result and the like, and exporting height information of each block of pointcloud to obtain height information required by a road surface. According to the method, the advantages of the Unity engine are fully utilized; the point cloud ground height information can be rapidlyand accurately generated, data flow processing is accelerated by utilizing some parallel processing methods, the point cloud road surface height information and subsequently added road surface elements can be automatically obtained, the point cloud road surface height information and subsequently added road surface elements can be automatically attached to the road surface, the workload requiredby manual adjustment is greatly reduced, and the probability of personal errors is also reduced.

Description

technical field [0001] The invention discloses a method for obtaining point cloud road surface height when editing vector information using a point cloud map, and belongs to the technical field of automatic driving simulation. Background technique [0002] The success of self-driving cars involves many technologies such as high-precision maps, real-time positioning, and obstacle detection. LiDAR is a device that emits a laser beam in a specified direction and detects the return beam to obtain data such as the target position. The commonly used laser radar in the field of automatic driving is the multi-wire mechanical rotary laser radar. Due to its precise positioning, low algorithm implementation difficulty, and many advantages such as not being affected by day and night, it has become one of the core positioning and detection equipment for automatic driving. During the driving process of the unmanned vehicle, the LiDAR rotates at a constant angular speed at the same time. D...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T19/20
CPCG06T7/11G06T19/20
Inventor 周路翔陈诚张旸
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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