Laser radar three-dimensional point cloud segmentation method
A 3D point cloud and laser radar technology, applied in the field of computer vision, can solve problems such as unsatisfactory point cloud segmentation accuracy and over-segmentation of point cloud and point cloud, and achieve the goal of maintaining the invariance of geometric features, fast and accurate segmentation, and maintaining integrity Effect
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[0058] The present invention will be further described below in conjunction with the drawings.
[0059] Combine figure 1 , The three-dimensional point cloud segmentation process of the lidar of the present invention is shown in the following figure. First extract the original three-dimensional point cloud data collected by the 360-degree lidar, and then carry out the preprocessing of the original point cloud. The preprocessing process includes the denoising, simplification and coordinate transformation of the original point cloud data to construct a three-dimensional Cartesian coordinate system The basic point cloud data is stored in the form of a two-dimensional array, and the variable neighborhood decentralized search strategy is adopted to dynamically adjust the region growth method around the neighborhood range of the seed and the resolution of the search matching range to carry out preliminary point cloud segmentation Based on this work, design a point cloud segmentation en...
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