Method and device for detecting obstacles in 3D radar point cloud continuous frame data

A technology of point cloud data and obstacles, which is applied in the field of obstacle detection, can solve the problems of missing labels, reducing the work efficiency of labelers, and wrong labeling by labelers, so as to reduce workload, improve accuracy and efficiency, and improve labeling efficiency. Effect

Active Publication Date: 2021-07-02
北京海天瑞声科技股份有限公司
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Problems solved by technology

[0003] At present, the common obstacle detection method is to mark manually. In the case of purely manual marking, if the point cloud data is not pre-classified and detected, the ...

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  • Method and device for detecting obstacles in 3D radar point cloud continuous frame data
  • Method and device for detecting obstacles in 3D radar point cloud continuous frame data
  • Method and device for detecting obstacles in 3D radar point cloud continuous frame data

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[0051] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0052] At present, the common obstacle detection method of point cloud data is manually marked. In purely manual marking, if the point cloud data is not pre-classified and detected, such as figure 1 As shown, the color of the point cloud data is the same, and a uniform color will reduce the work efficiency of the annotator, and even cause the annotator to mislabel and miss the label.

[0053] R...

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Abstract

The invention relates to a method and device for detecting obstacles in 3D radar point cloud continuous frame data, electronic equipment and a computer readable storage medium. The method comprises the following steps: collecting continuous frames of point cloud data, and dividing the point cloud data of the current frame into a ground point set and an obstacle point set; obtaining a road edge of the current frame according to the ground point set; according to the road edge, obtaining the position of the obstacle, wherein the position comprises a road surface and a non-road surface; and on the basis of the position information of the obstacles, detecting categories of all the obstacles contained in the current frame. The category of the object is detected in advance through an algorithm, so that the workload of subsequent manual labeling is reduced, and the labeling efficiency is improved; and a road edge detection method is introduced, the whole detection scene is classified into a road surface area and a non-road surface area, the precision and efficiency of obstacle category detection are improved through priori knowledge, and the method is suitable for task scenes with high real-time performance requirements.

Description

technical field [0001] The present disclosure relates to the field of image processing, and in particular to a method and device for detecting obstacles in 3D radar point cloud continuous frame data, electronic equipment, and a computer-readable storage medium. Background technique [0002] There is a strong demand for environment perception and obstacle detection in vehicle assisted driving tasks. Only by accurately sensing the environment can it be possible to make safer and more reasonable decisions. In vehicle assisted driving tasks, 3D point cloud data is usually collected to analyze and label the surrounding environment. A point cloud is a dataset of points in a certain coordinate system. A point contains a wealth of information, including three-dimensional coordinates X, Y, Z, color, classification value, intensity value, time, and more. Point cloud data is mainly obtained through data acquisition by a 3D laser scanner, and secondly, 3D reconstruction is performed t...

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Application Information

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IPC IPC(8): G01S7/48G01S17/931
CPCG01S7/4802G01S17/931
Inventor 刘杰辰陈佃文黄宇凯曹琼李科郝玉峰
Owner 北京海天瑞声科技股份有限公司
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