Method and device for filtering floodlight noisy points of laser radar in automatic driving

A laser radar and autonomous driving technology, applied in the field of data processing, can solve the problems of reducing the accuracy of laser radar measurement data, and achieve the effect of improving environmental adaptability and solving the problem of reducing accuracy

Inactive Publication Date: 2021-08-31
BEIJING QINGZHOUZHIHANG TECH CO LTD
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Problems solved by technology

In this way, the problem of reduced accuracy of lidar measurement data in wet / rainy weather conditions can be solved, and the environmental adaptability, safety and stability of autonomous driving can be further improved

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  • Method and device for filtering floodlight noisy points of laser radar in automatic driving
  • Method and device for filtering floodlight noisy points of laser radar in automatic driving
  • Method and device for filtering floodlight noisy points of laser radar in automatic driving

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Embodiment Construction

[0040] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0041] Embodiment 1 of the present invention provides a method for filtering lidar flood noise in automatic driving, such as figure 1 As shown in the schematic diagram of a method for filtering lidar flood noise in automatic driving provided by Embodiment 1 of the present invention, the method mainly includes the following steps:

[0042] Step 1, the automatic driving control system performs laser scanning measurement on the first target e...

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Abstract

The embodiment of the invention relates to a method and a device for filtering floodlight noisy points of a laser radar in automatic driving. The method comprises the steps of performing laser scanning measurement on a first target environment through the laser radar in an automatic driving process to obtain a first point cloud data set; performing range image conversion processing on the first point cloud data set to generate first image data; performing layered image processing on the first image data to generate second image data; performing foreground spot marking processing on the second image data by using a spot detection model to obtain a first spot area; marking the outer edge area of the first spot area to obtain a first outer edge area; marking first outer edge point cloud data; calculating first area depth data; carrying out floodlight noisy point identification and marking processing; and filtering the first point cloud data marked as the floodlight noisy points from the first point cloud data set. According to the invention, the problem that the accuracy of laser radar measurement data is reduced in a humid/raining weather state can be solved.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a method and device for filtering lidar flood noise in automatic driving. Background technique [0002] In the field of automatic driving, lidar is mainly used to quickly measure the environmental targets around the driving route of the vehicle, and send the measured point cloud data to the automatic driving system for decision-making processing related to route and speed. Therefore, the accuracy of lidar measurement data plays a decisive role in safe autonomous driving. We have found in practical applications that when the lidar is in wet / rainy weather, when scanning and measuring high-reflectivity objects (such as traffic signs), it is easy to generate noise on the edge of the object. These noises are also called pan light noise. As the ambient humidity increases or the amount of rainfall increases, the amount of flood noise will also increase, which will greatly redu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48G01S17/42
CPCG01S7/48G01S17/42
Inventor 张雨陈东
Owner BEIJING QINGZHOUZHIHANG TECH CO LTD
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