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Road geometric information extraction method based on laser point cloud

A technology of geometric information and extraction method, which is applied in the field of automatic road surface detection, can solve the problem of lack of professional traffic processing of extraction results, etc., and achieve the effect of optimizing the extraction algorithm and method of road geometric information

Pending Publication Date: 2022-03-11
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

Regarding the extraction of lidar point cloud data, there is still a lack of traffic professional processing of the extraction results

Method used

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  • Road geometric information extraction method based on laser point cloud
  • Road geometric information extraction method based on laser point cloud
  • Road geometric information extraction method based on laser point cloud

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Embodiment Construction

[0040]The present invention will be further explained below in conjunction with the accompanying drawings.

[0041] Such as figure 1 As shown, the present invention is a kind of road geometry information extraction algorithm based on laser point cloud, mainly comprises the following steps:

[0042] (1) Radius filtering and grid downsampling are performed on the point cloud collected by the on-board laser scanning system to simplify the point cloud.

[0043] The mobile laser scanning technology is to install the laser scanner on the car. When the car is moving, it can quickly obtain the three-dimensional surface information around the driving path, and generate a three-dimensional laser point cloud according to the X, Y, Z coordinates and the intensity value I. The laser beam of the mobile laser scanning system is dense and flexible, and the pulse emission frequency can reach hundreds of thousands of points per second. The 3D laser point cloud established accordingly has a lar...

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Abstract

The invention discloses a road geometric information extraction method based on a laser point cloud. The method comprises the following steps: performing radius filtering and grid downsampling on a point cloud to simplify the point cloud; in consideration of concentrated elevation distribution of road surface points and smoother road surface, elevation features and local normal vector features of point clouds are extracted to distinguish ground points from non-ground points; connecting the road surface points on the ground points by using a region growing method, and obtaining a complete road surface point cloud after the mistakenly deleted points are recovered; and finally, calculating a trajectory vector and cutting a road cross section according to the acquired trajectory information of the vehicle, and acquiring geometric parameters of the road by using a least square method. According to the method, the extraction precision and the program operation efficiency are considered at the same time, and automatic extraction of road geometric information in different road environments can be comprehensively considered.

Description

technical field [0001] The invention relates to the technical field of automatic road surface detection, and relates to a laser point cloud-based road geometric information extraction algorithm. Background technique [0002] Since the reform and opening up, my country's road network has expanded rapidly. The amount of road reconstruction and expansion projects is increasing year by year, and over time, the subgrade is prone to uneven settlement. These reasons make the real situation of the road more and more complicated. How to collect road information efficiently and at low cost has become an important issue in road maintenance management. And in recent years, autonomous driving, intelligent transportation, high-precision map production and other fields have flourished, and it is even more urgent to accurately and efficiently grasp road information. Manual collection of road feature parameters is a heavy workload, and it is difficult to do it on a large scale, and it take...

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Application Information

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IPC IPC(8): G06T7/00G06T7/70G06T3/00G06V10/46
CPCG06T7/0002G06T7/70G06T2207/10028G06T2207/30256G06T3/06
Inventor 于斌张钰钦
Owner SOUTHEAST UNIV
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