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Method and device for detecting ground points in 3D radar point cloud data and medium

A technology of point cloud data and ground points, which is applied in the field of computer vision, can solve problems such as easy interference, and achieve the effect of accuracy, avoiding interference, and enhancing applicability

Inactive Publication Date: 2021-08-13
北京海天瑞声科技股份有限公司
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Problems solved by technology

[0004] If the 3D target object is an object directly in contact with the ground, there is no obvious interval between the ground point cloud data and the object point cloud data during the process of obtaining point cloud data, which leads to easy occurrence of problems when marking the 3D target object. interference

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  • Method and device for detecting ground points in 3D radar point cloud data and medium
  • Method and device for detecting ground points in 3D radar point cloud data and medium
  • Method and device for detecting ground points in 3D radar point cloud data and medium

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[0066] 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 disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

[0067] The method for detecting ground points in 3D radar point cloud data provided by the present disclosure is applicable to the usage scenario of obtaining point cloud data by vehicle-mounted lidar. In an example, a lidar device with 64 laser beams is taken as an example. When collecting point cloud data, the lidar device is the center, and 64 laser rays are emitted outward accordi...

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Abstract

The invention relates to a method and device for detecting ground points in 3D radar point cloud data and a medium. The method for detecting the ground points in the 3D radar point cloud data comprises the following steps: acquiring point cloud data to be subjected to ground detection; determining a reference plane based on the point cloud data; taking the projection of the radar center of the point cloud data on the reference plane as a polar coordinate circle center point, and performing grid division on the reference plane to obtain a plurality of grids to be detected; and determining ground point cloud data in the point cloud data based on the height distance of each point data in the plurality of grids to be detected on the Z axis. According to the method for detecting the ground point in the 3D radar point cloud data provided by the invention, the ground point cloud data in the point cloud data to be subjected to ground detection is determined based on the height distance of each point data on the Z axis, so that the obtained ground point cloud data is more accurate and better fits the real road surface height, and the applicability of the ground point cloud data is enhanced.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular to a method, device and medium for ground point detection in 3D radar point cloud data. Background technique [0002] LiDAR (Light Detection and Ranging, LiDAR) is a radar system that emits laser beams to detect the position, speed and other characteristics of the target. The data obtained by lidar is point cloud data. Wherein, the way of obtaining point cloud data may include: spaceborne, airborne or ground. [0003] In automatic driving, the point cloud data is mainly obtained by vehicle ground. Based on the data collected by the multi-line (16-line, 32-line or 64-line) laser beam rotating for one revolution, the vehicle-mounted lidar performs accurate 3D modeling of the vehicle's environment in order to clarify the location of a 3D target object in the lidar coordinate system The exact position, size and posture of the [0004] If the 3D target object is ...

Claims

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Application Information

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IPC IPC(8): G01S17/89
CPCG01S17/89
Inventor 刘杰辰陈佃文黄宇凯曹琼郝玉峰李科
Owner 北京海天瑞声科技股份有限公司
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