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Methods and apparatus for estimating ground

A ground and ground point technology, applied in the computer field, can solve the problem of false detection of the ground as an obstacle, and achieve the effect of improving the realism

Active Publication Date: 2021-03-26
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] However, when detecting obstacles in the point cloud collected by lidar, it is easy to misdetect the ground as an obstacle

Method used

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  • Methods and apparatus for estimating ground
  • Methods and apparatus for estimating ground

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Embodiment Construction

[0045] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0046] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0047] figure 1 An exemplary system architecture 100 is shown to which embodiments of the method for estimating a ground or the apparatus for estimating a ground of the present application can be applied.

[0048] Such as figure 1 As shown, an unmanned vehicle 101 may be i...

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Abstract

The embodiment of the invention discloses a method and an apparatus for estimating the ground. A specific embodiment of the method comprises the steps of selecting an estimated ground point cloud frompoint clouds collected by a laser radar; dividing a first three-dimensional space where the estimated ground point cloud is located into a plurality of second three-dimensional spaces; performing ground estimation on the estimated ground point cloud points in the plurality of second three-dimensional spaces to obtain a plurality of ground sub-planes; and generating the ground based on the plurality of ground sub-planes. According to the embodiment, the estimated ground trueness is improved.

Description

technical field [0001] The embodiments of the present application relate to the field of computer technology, and in particular to methods and devices for estimating the ground. Background technique [0002] A driverless car is a new type of smart car, also known as a "wheeled mobile robot". It mainly uses sensors (lidar, camera, etc.) Send instructions to control different devices in the driverless car separately, so as to realize the fully automatic operation of the car and achieve the goal of driverless cars. [0003] However, when detecting obstacles in the point cloud collected by lidar, it is easy to misdetect the ground as an obstacle. In order to reduce the false detection rate of obstacles, the ground is usually estimated first, then the point cloud points belonging to the ground are filtered out from the point cloud, and finally obstacles are detected based on the filtered point cloud. [0004] At present, the commonly used ground estimation method is to first dr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48G01S17/88G01S17/931
CPCG01S7/4802G01S17/88
Inventor 刘祥张双高斌朱晓星薛晶晶王成法
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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