Point cloud data processing method and device, vehicle, electronic equipment and medium

A technology of point cloud data and cloud data, which is applied in the details of processing steps, measuring devices, image data processing, etc., can solve the problems of real-time processing of difficult laser point cloud data, affecting the realization of automatic driving, and inability to realize environmental perception. , to achieve the effect of improving environmental awareness, reducing the amount of data, and reducing requirements

Active Publication Date: 2020-03-13
UISEE TECH (ZHEJIANG) LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the existing methods for processing laser point cloud data require a large amount of computation, and it is difficult to realize real-time processing of laser point cloud data through conventional vehicle-level chips (vehicle processors), so that real-time environmental perception cannot be realized. Affect the realization of autonomous driving

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  • Point cloud data processing method and device, vehicle, electronic equipment and medium
  • Point cloud data processing method and device, vehicle, electronic equipment and medium
  • Point cloud data processing method and device, vehicle, electronic equipment and medium

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Embodiment Construction

[0034] In order to enable those skilled in the art to better understand the technical solutions of the embodiments of the present disclosure, the method, device, vehicle, electronic device and computer-readable medium provided by the embodiments of the present disclosure for processing point cloud data are described in detail below in conjunction with the accompanying drawings .

[0035] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth in the present disclosure. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0036] As used in this disclosure, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0037] The terms used in...

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Abstract

The embodiment of the invention provides a point cloud data processing method. The method comprises steps: point cloud data are obtained, wherein the point cloud data comprise position information ofa plurality of sampling points; a reference surface is divided into a plurality of grids, and sampling points corresponding to the grids are determined, wherein the reference surface is a plane whichis not parallel to the gravity direction, and the sampling points corresponding to the grids are all sampling points of which the orthographic projections are located in the grids; an effective pointcorresponding to each grid is determined, wherein the effective points corresponding to the grids are at most one sampling point with the maximum height larger than a first threshold value in the sampling points corresponding to the grids, and the heights are increased in the direction deviating from the gravity; and an environment corresponding to the point cloud data is determined based on the position information of each effective point. The embodiment of the invention further provides a point cloud data processing device, a vehicle, electronic equipment and a computer readable medium.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of point cloud data processing, and in particular, to a method, device, vehicle, electronic device, and computer-readable medium for processing point cloud data. Background technique [0002] Self-driving vehicles need to perceive the surrounding environment as the basis for autonomous driving decisions. [0003] The on-board lidar installed on the self-driving vehicle can obtain the surrounding point cloud data (laser point cloud data). By analyzing and processing the laser point cloud data, the surrounding environment of the self-driving vehicle can be known to realize environmental perception. [0004] However, the existing methods for processing laser point cloud data require a large amount of computation, and it is difficult to realize real-time processing of laser point cloud data through conventional vehicle-level chips (vehicle processors), so that real-time environmental perce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/931G01S17/42G01S7/48G01S7/4861G01S7/4913G06T17/00
CPCG01S17/42G01S7/4802G01S7/4808G01S7/4861G01S7/4913G06T17/00G06T2200/08
Inventor 李国政叶凌峡王子涵刘洋
Owner UISEE TECH (ZHEJIANG) LTD
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