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Point cloud data processing method and device

A technology of point cloud data and cloud data, which is applied in the field of data processing and can solve problems such as large amount of computation

Pending Publication Date: 2021-07-02
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method and device for processing point cloud data, so as to at least solve the technical problem in the prior art that the amount of calculation for extracting obstacle planes based on point cloud data is relatively large

Method used

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  • Point cloud data processing method and device

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Experimental program
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Embodiment 1

[0031] According to an embodiment of the present invention, an embodiment of a method for processing point cloud data is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.

[0032] figure 1is a flowchart of a method for processing point cloud data according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0033] Step S102: Project the point cloud data to be processed to a first dimension to obtain height information of the point cloud data, where the first dimension is a designated dimension used to represent the space.

[0034] Specifically, the above-mentioned point cloud data to be processed may be point cloud data obtaine...

Embodiment 2

[0108] According to an embodiment of the present invention, an embodiment of an apparatus for processing point cloud data is provided, Image 6 is a schematic diagram of a point cloud data processing device according to an embodiment of the present invention, such as Image 6 As shown, the device includes:

[0109] The projection module 60 is configured to project the point cloud data to be processed to a first dimension to obtain height information of the point cloud data, wherein the first dimension is a specified dimension used to represent space;

[0110] Segmentation module 62, is used for segmenting height information on the first dimension, obtains multi-segment height range;

[0111] A detection module 64, configured to detect target point cloud data forming a horizontal area in each height range;

[0112] The filtering module 66 is configured to filter out obstacle areas representing obstacles from the horizontal areas according to the target point cloud data.

[0...

Embodiment 3

[0126] According to an embodiment of the present invention, a storage medium is provided, and the storage medium includes a stored program, wherein when the program is run, a device where the storage medium is located is controlled to execute the point cloud data processing method of Embodiment 1.

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Abstract

The invention discloses a point cloud data processing method and device. The method comprises: projecting to-be-processed point cloud data to a first dimension, and obtaining height information of the point cloud data, wherein the first dimension is used for representing a specified dimension in a space; segmenting the height information in a first dimension to obtain a plurality of height ranges; detecting target point cloud data forming a horizontal region in each height range; and according to the target point cloud data, screening out an obstacle region for representing an obstacle from the horizontal region. The technical problem in the prior art that the calculation amount for extracting the obstacle plane based on the point cloud data is large is solved.

Description

technical field [0001] The present invention relates to the field of data processing, in particular, to a method and device for processing point cloud data. Background technique [0002] In the process of building construction, the on-site construction environment is highly complex, and the obstacles are distributed in a disorderly manner. After scanning the building construction scene through the laser point cloud, the difficulty of segmentation and identification of obstacles is also correspondingly increased. Therefore, in order to obtain more accurate 3D information of building scenes, preprocessing of laser point cloud data is often a non-negligible step. [0003] For the 3D point cloud data of the building construction area, in order to filter out the interference points in the 3D point cloud and reduce the complexity of the subsequent point cloud segmentation steps. Specifically, its core is to detect plane areas with different heights in the building scene, identify...

Claims

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Application Information

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IPC IPC(8): G06T3/00G06T5/00G06T7/00G06T7/62
CPCG06T7/0002G06T7/62G06T2207/10028G06T3/06G06T5/70
Inventor 杨海溢贾宁傅志刚刘玉平
Owner GUANGDONG BOZHILIN ROBOT CO LTD