A method and device for processing lidar point cloud data
A technology of point cloud data and laser radar, which is applied in the direction of measuring devices, electromagnetic wave re-radiation, instruments, etc., can solve data redundancy, is not conducive to quickly identify the surrounding environment of the vehicle body, and the amount of redundant data increases the computational complexity. Achieve rapid identification and tracking, improve processing efficiency, and reduce processing volume
Active Publication Date: 2021-11-02
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
Due to the long range of lidar, different radars installed in the same vehicle have a large area of detection range overlap, and the same obstacle may be recognized by multiple lidar scans, and each radar does the same for this obstacle Data processing, resulting in very serious data redundancy
Excessive redundant data increases the computational complexity, which is not conducive to quickly identifying the surrounding environment of the vehicle body, and cannot meet the real-time requirements of automatic driving
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[0092] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily realize them. Also, for clarity, parts not related to describing the exemplary embodiments are omitted in the drawings.
[0093] In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts or combinations thereof disclosed in the specification, and are not intended to exclude one or a plurality of other features, numbers, steps, acts, parts, parts or combinations thereof exist or are added.
[0094] In addition, it should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings...
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The embodiment of the present disclosure discloses a method and device for processing laser radar point cloud data. The method for processing laser radar point cloud data includes acquiring first point cloud data in the surrounding environment of the vehicle; Determining second point cloud data in the ROI area; and determining information of obstacles in the surrounding environment of the vehicle based on the second point cloud data. This technical solution effectively filters the redundant information in the surrounding environment of the vehicle collected by the lidar, realizes that only the point cloud data that affects the automatic driving of the vehicle needs to be processed, reduces the processing amount of the point cloud data, and improves the accuracy of the point cloud data. Processing efficiency, so that it can quickly identify and track obstacles in the surrounding environment of the vehicle, and escort the safe and stable automatic driving of the vehicle.
Description
technical field [0001] The present disclosure relates to the technical field of automatic driving, and in particular to a method and device for processing lidar point cloud data. Background technique [0002] With the development of autonomous driving technology, the laser radar system is generally used to detect the target object. Among them, the laser radar uses the high penetration and directivity of the laser beam to realize the detection and positioning of the remote target object. The laser beam is used to detect the position of the target object, and realize the estimation of the distance, orientation and attitude of the target object, so as to realize the detection, tracking and identification of the remote target object. Due to the large scanning range and high ranging accuracy of lidar, lidar systems are currently playing an increasingly important role in urban traffic and autonomous driving environments. The lidar system on the road can detect, identify and track...
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IPC IPC(8): G01S17/931
CPCG01S17/93
Inventor 王鲁晗李晦龄路兆铭温向明傅彬王刚
Owner BEIJING UNIV OF POSTS & TELECOMM