Point cloud data filtering method and device based on complex ground, and computer equipment

Abstract

The invention relates to a point cloud data filtering method and device based on a complex ground, computer equipment and a storage medium. The method comprises the steps of acquiring laser point cloud data, wherein the laser point cloud data comprise multiple single-frame point cloud data; extracting the single-frame point cloud data by using a first function to obtain a first candidate point corresponding to the optimal plane model; extracting the single-frame point cloud data by using a second function to obtain a second candidate point corresponding to a preset slope condition; screening the first candidate points and the second candidate points to obtain corresponding candidate point cloud data; optimizing the Gaussian model by utilizing the candidate point cloud data to obtain an optimized Gaussian model; testing the point cloud data by using the optimized Gaussian model to obtain a test result of the test point; comparing the test results of the test points with a threshold value, filtering the test points smaller than the threshold value, and taking the remaining test points as non-ground points. An ideal filtering effect can be ensured even in a complex pavement scene.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to a complex ground-based point cloud data filtering method, device, computer equipment and storage medium. Background technique [0002] With the development of computer technology, intelligent driving, as the core direction of the future development of vehicles, has a profound impact on the vehicle industry and even the transportation industry. In the lidar perception framework based on intelligent driving, ground point cloud filtering is one of the core preprocessing steps, and it is also the basis for the subsequent steps of laser point cloud perception. After the ground points are filtered out, the system can further filter out non-ground points Perform clustering, tracking, etc. [0003] However, the current ground filtering method can achieve a good filtering effect for simple road scenes, but in complex road scenes, such as the road with too large undulations, t...

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Problems solved by technology

[0003] However, the current ground filtering method can achieve a good filtering effect for simple road scenes, but in complex road scenes, such as the road with too large undulations, the road slope is too large, etc., it is easy to appear extreme erroneous filtering results, does not guarantee the ideal filtering effect

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