Point cloud data processing method and device
A technology of point cloud data and processing method, applied in the computer field, can solve the problems of point cloud data dynamic target cannot be recognized, high hardware environment requirements, large workload, etc., and achieves high accuracy, high recognition accuracy, and high recognition efficiency. Effect
Active Publication Date: 2019-12-03
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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Problems solved by technology
[0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: the training samples required for deep learning must be well in line with the characteristics of the point cloud data set; the training samples require a large number of people to manually label, and the workload Large size and low efficiency; the hardware environment requirements for training are high; due to reasons such as occlusion and long distance, many dynamic targets in point cloud data cannot be recognized
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[0035] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0036] The words involved in the embodiments of the present invention are explained below.
[0037] Point cloud data refers to a set of vectors in a three-dimensional coordinate system. These vectors are usually expressed in the form of X, Y, Z three-dimensional coordinates, and are generally mainly used to represent the outer surface shape of an object. Not only that, i...
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The invention discloses a point cloud data processing method and device, and relates to the technical field of computers. One specific embodiment of the method comprises the following steps: respectively clustering multiple frames of point cloud data of a point cloud data set to obtain corresponding clustering results; calculating the central point of each target individual in each clustering result to determine the moving distance of the target individual; and comparing the moving distance with a preset threshold value so as to identify the dynamic state and the static state of the target individual according to a comparison result. According to the method, the multiple frames of point cloud data are clustered respectively, and the central point of each target individual in the clusteringresult is calculated to determine the moving distance of the target individual, so that the dynamic state and the static state of the target individual are identified according to the moving distance, and the identification efficiency and the accuracy are high.
Description
technical field [0001] The invention relates to the field of computers, in particular to a method and device for processing point cloud data. Background technique [0002] Unmanned vehicles use scanning equipment, such as lidar, cameras, etc., to scan the road and the surrounding environment to obtain the point cloud data required for the driving environment, and then use the scanning equipment, Global Positioning System (Global Positioning System, GPS) and inertial measurement unit ( Inertial Measurement Unit, IMU) and other equipment data fusion to build a high-precision map. Among them, compared with ordinary electronic maps, high-precision maps have higher precision and contain more target features. They are used to provide prior maps for unmanned vehicles, which can assist them in positioning and navigation. [0003] In the process of building a high-precision map, if there are too many dynamic targets on the road, many smears will be left on the map, which will seriou...
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IPC IPC(8): G06K9/62
CPCG06F18/2321G06F18/23213
Inventor 贾魁
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD