Method and system for determining bounding box of three-dimensional target

Abstract

The invention discloses a method and a system for determining a bounding box of a three-dimensional target. The method comprises the steps of when the point cloud set data of a series of obtained interested targets are processed, firstly, adopting a scanning line bundle separation and straight line segment extraction mode, and extracting a straight line segment set of each scanning line bundle ofthe multi-line laser radar according to the point cloud set data of each interested target; secondly, according to the extracted straight-line segment set of each scanning wire harness of the multi-line laser radar, screening from the straight-line segment set to obtain a main-direction straight-line segment group; and finally, based on the obtained main direction straight line segment group, fitting to obtain the main direction of the bounding box of the selected three-dimensional target; and finally, calculating to obtain the bounding box of the selected three-dimensional target according tothe main direction of the bounding box of the selected three-dimensional target. According to the method of the invention, when the bounding box of the three-dimensional target is determined, the calculation amount is reduced, and the main direction stability of the obtained bounding box of the three-dimensional target is improved.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and system for determining a bounding box of a three-dimensional object. Background technique [0002] Lidar is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of targets. Its working principle is to transmit a detection laser beam signal to the target, and then compare the received target echo reflected from the target with the transmitted signal, and after proper processing, the relevant information of the target can be obtained, such as target distance, Parameters such as orientation, altitude, speed, attitude, and even shape. Multi-line laser radar is a kind of laser radar, which emits multiple laser beams through semiconductor laser transmitters and detects target echoes. Multi-line laser radars include multiple laser transmitters, and each laser transmitter can measure a distance. [0003] At present, th...

AI Technical Summary

Problems solved by technology

No matter which method is used, there are disadvantages: 1) The calculation of a large amount of cloud point set data is required. No matter whether the principal component analysis method or the minimum area method is used for processing, the calculation amount is very large, especially for a series of objects of interest. The case where the amount of point cloud data is large; 2) The main direction of the bounding box of the selected 3D target has a large jitter. For the same 3D target, due to the different scanning angles of the multi-line lidar or the Partially occluded, resulting in inaccurate calculated point cloud data of a series of objects of interest, resulting in inaccurate bounding boxes of the 3D target finally calculated, and large jitter in the main direction

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