Multi-line laser radar-based point cloud ground point segmentation method
A multi-line laser and lidar technology, applied in the field of three-dimensional modeling, can solve problems such as poor accuracy, and achieve the effects of increasing accuracy, implementing simple calculation methods, and improving accuracy and real-time performance.
Pending Publication Date: 2021-04-20
合肥中科智驰科技有限公司
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This invention realizes the segmentation of the ground by comparing the height value of the point cloud with the size of the set threshold, and there is a problem of poor accuracy
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[0030] The preferred embodiments of the present invention are described in detail below, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.
[0031] Such as Figure 1-2 , a kind of ground segmentation method based on multi-line lidar of the present invention, comprises the following steps:
[0032] Step 1: Obtain the point cloud generated by the lidar scanning the ground to obtain point cloud data;
[0033] Step 2: Analyze the point cloud data obtained in step 1 into the radar coordinate system, and obtain the coordinates (x, y, z) of each point in the point cloud data in the radar coordinate system; where x, y and z are coordinate value;
[0034] Step 3: Divide the point cloud data into multiple groups; in each group, sort the point cloud data in the group;
[0035] Step 4: Calculate the pitch angle ω of the scan line of each set ...
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The invention provides a multi-line laser radar-based point cloud ground point segmentation method, which comprises the steps of obtaining point cloud generated by scanning the ground by a laser radar to obtain point cloud data; analyzing the point cloud data to a radar coordinate system; dividing the point cloud data into a plurality of groups, and sorting the point cloud data in each group in sequence from small to large according to angles between scanning lines and a horizontal plane; calculating a pitch angle of each group of point cloud data scanning lines; calculating a slope difference value of two adjacent groups of point cloud data; setting a threshold value of a pitch angle difference value and a threshold value of slope change according to actual road conditions; and separating to obtain a ground point and a non-ground point according to results obtained in the above steps. The multi-line laser radar-based point cloud ground point segmentation method has the advantages that the implementation calculation method is simple and efficient, and the accuracy and real-time performance of multi-line laser radar segmentation are improved.
Description
technical field [0001] The invention relates to the technical field of three-dimensional modeling, in particular to a ground segmentation method based on multi-line laser radar. Background technique [0002] In reverse engineering, the point data collection of product appearance surface obtained by measuring instruments is also called point cloud. Usually, the number of points obtained by using a three-dimensional coordinate measuring machine is relatively small, and the distance between points is relatively large, which is called sparse point cloud. The point cloud obtained by using a 3D laser scanner or a photo scanner has a relatively large number of points and is relatively dense, which is called a dense point cloud. [0003] In the existing technology, the common segmentation method is to realize the segmentation of the ground by comparing the height value of the point cloud with the size of the set threshold; or by establishing a grid map of Cartesian Cartesian coordi...
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IPC IPC(8): G06T7/11G06T7/136G01S7/48
Inventor 袁胜彭稹江如海刘跃丁骥
Owner 合肥中科智驰科技有限公司