Point cloud data division method and device, obstacle detection method and device

A point cloud data, point cloud technology, applied in the computer field
CN111210429BActive Publication Date: 2020-08-21ZOOMLION HEAVY IND CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
ZOOMLION HEAVY IND CO LTD
Publication Date
2020-08-21

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Abstract

The embodiment of the invention provides a point cloud data division method and device and an obstacle detection method and device, and belongs to the technical field of computers. The point cloud data partitioning method comprises the steps of performing three-dimensional reconstruction on a depth image of a current environment to generate a point cloud data set, wherein one piece of point clouddata in the point cloud data set corresponds to one pixel point in the depth image; obtaining histogram distribution of the depth image based on pixel point depth values; establishing a plurality of depth intervals according to the number of pixel points corresponding to each histogram dimension in the histogram distribution; and dividing the point cloud data set into a plurality of sub-point cloud data sets corresponding to a plurality of depth spaces according to the point cloud data corresponding to the pixel points included in each of the plurality of depth intervals. According to the method, a point cloud data truncation phenomenon can be avoided, and the adaptability to a scene is higher.
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Description

technical field

[0001] The present invention relates to the field of computer technology, in particular to a point cloud data division method and device, and an obstacle detection method and device. Background technique

[0002] As the primary link of unmanned operation of equipment, environmental perception mainly includes two solutions: lidar and binocular vision. LiDAR is robust to interference factors such as lighting and color, but is vulnerable to snow, fog lights and bad weather. Compared with lidar, binocular vision can not only obtain three-dimensional information of the environment, but also output color images with complex features, and the cost is lower. Therefore, binocular vision is currently widely used in unmanned driving, virtual reality and other fields, especially in obstacle detection in these fields. Contents of the invention

[0003] The purpose of the embodiment of the present invention is to provide a point cloud data processing method and device,...

Claims

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