Target identification method and device

Abstract

The invention discloses a target identification method and device, which can be applied to the field of automatic driving or intelligent driving. The method comprises: receiving a target laser point,generating a grid corresponding to a target laser point cloud, one point in the target laser point cloud corresponding to an effective point in a point cloud grid (S210); and according to the geometrical characteristics of the point cloud grid, determining whether the target laser point cloud is a noise point cloud, the geometrical characteristics of the point cloud grid including the microscopicroughness of the point cloud grid and / or the distribution discontinuity of the point cloud in the point cloud grid (S220). The target identification method provided by the invention can determine whether the laser point cloud is a false target caused by splashing water spray, road flying dust or automobile exhaust and the like due to accumulated water on the road, effectively reduces the false detection rate, improves the detection rate of the false target, and is simple to implement and convenient to implement.

Description

technical field [0001] The present application relates to the field of automatic driving, and more specifically, to a method and device for object recognition. Background technique [0002] For autonomous driving technology, lidar is one of the main visual sensors on the vehicle. Lidar is an active sensor used to detect the position of a target by emitting a laser beam, and the distance information of the target can be obtained according to the laser point cloud reflected from the target, so as to realize the detection, tracking and identification of the target. Since the laser radar adopts the infrared laser ranging method, it is easy to produce a large number of false reflection points due to the influence of road dust, vehicle exhaust, and water mist splashed on the road surface. These false reflection points will cause recognition errors, which will affect the follow-up tracking path planning, etc. [0003] At present, for the false emission points (or false target poi...

AI Technical Summary

Problems solved by technology

Since the laser radar adopts the infrared laser ranging method, it is easy to produce a large number of false reflection points due to the influence of road dust, vehicle exhaust, and water mist splashed on the road surface. These false reflection points will cause recognition errors, which will affect the follow-up tracking path planning, etc.

[0003] At present, for the false emission points (or false target point clouds) caused by dust on the road surface and automobile exhaust, there is no very suitable solution for the existing methods of removing false reflection points in the laser point cloud. , and most of the existing methods are more complicated, and the cost of implementation is higher, resulting in many false targets in the laser point cloud, which seriously reduces the accuracy and safety of automatic driving

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