Construction method, system and device for constructing external rectangular frame of obstacle point cloud

Abstract

The invention discloses a method for constructing an external rectangular frame of an obstacle point cloud, and the method comprises the steps: a step of constructing an external convex polygon: obtaining the obstacle point cloud, projecting the point cloud to a two-dimensional plane in a top view projection mode, and drawing the external convex polygon for an obstacle point convex hull algorithm,thereby obtaining a convex polygon corner set; a polygonal corner point selection step: reducing the convex polygonal corner point set; traversing candidate boxes, namely drawing an external rectangular box for the convex polygon corner set by taking a connecting line of every two points as the direction of one side of the rectangular box, counting the sum of distance values from each corner to the nearest side of the rectangular box, recording the box and the distance values, traversing each point pair in the central point set, and drawing a candidate box; and selecting the frame with the minimum distance value as a final obstacle external rectangular frame. According to the method, on the basis of an obstacle point cloud external convex polygon, every two points are used as a projectionedge picture frame, the point-to-edge distance is used as a judgment standard to select a final frame, and a better effect is achieved on a sparse point cloud picture frame.

Description

technical field [0001] The present application relates to the technical field of automatic control, in particular to a method and device for constructing a circumscribed rectangular frame of an obstacle point cloud. Background technique [0002] In the point cloud frame method in the prior art, first draw a two-dimensional circumscribed convex polygon on the obstacle point cloud, then select the points with the largest and smallest relative azimuth angles for the points of the polygon with the radar as the center, and then select the connecting line between these two points Close to the corners of the radar, these points are respectively projected onto a straight line with two adjacent corners as sides to draw a rectangular frame, and the rectangular frame with the smallest area is selected as the final obstacle rectangular frame. [0003] There is no limit to the number of corner points of the circumscribed convex polygon, which brings computational pressure to post-process...

AI Technical Summary

Problems solved by technology

[0008] For outdoor lidar use scenarios, the existing methods for constructing circumscribed rectangular frames of obstacle point clouds can construct stable and accurate frames for objects with relatively complete point clouds, but for distant objects with sparse point clouds, due to the jitter and Flickering will make the method of drawing individual point frames unstable, and a method, system and device for constructing a circumscribed rectangular frame of an obstacle point cloud are proposed

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