Ground filtering method and device, storage medium and computer program product

A filtering and grounding technology, applied in computer components, computing, image data processing, etc., can solve problems such as multiple redundant points, achieve the effect of improving reliability, improving efficiency, and reducing the existence of redundant points

Pending Publication Date: 2022-04-05
深圳朗道智通科技有限公司
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Problems solved by technology

[0003] When the road conditions are complex, most of the ground point clouds can be filtered out using the above algorithm, but there are still many redundant point

Method used

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  • Ground filtering method and device, storage medium and computer program product
  • Ground filtering method and device, storage medium and computer program product
  • Ground filtering method and device, storage medium and computer program product

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Embodiment

[0052] see figure 1 , figure 1 A flow chart of a ground filtering method provided by the present invention, such as figure 1 As shown, it includes the following steps:

[0053] Step 1: Obtain the original point cloud data;

[0054] Step 2: Filter out the ground data in the original point cloud data according to the random sampling consistent RANSAC algorithm to obtain the intermediate point cloud data;

[0055] Step 3: Calculate the point cloud features of the intermediate point cloud data;

[0056] Step 4: Filter out the point cloud data whose point cloud characteristics do not meet the preset conditions in the intermediate point cloud data, and obtain the result point cloud data.

[0057] In this embodiment, after the terminal device obtains the original point cloud data, it filters out the ground data in the original point cloud data according to the random sample consensus (RANSAC) algorithm to obtain the intermediate point cloud data, and calculates the point cloud of...

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Abstract

The invention relates to the technical field of ground filtering, and discloses a ground filtering method and device, a storage medium and a computer program product, and the method comprises the following steps: obtaining original point cloud data; filtering ground data in the original point cloud data according to a random sample consensus RANSAC algorithm to obtain intermediate point cloud data; calculating point cloud features of the intermediate point cloud data; and filtering the point cloud data of which the point cloud features do not meet a preset condition in the intermediate point cloud data to obtain result point cloud data. According to the invention, through multiple filtering, the obtained result point cloud data has fewer redundant points compared with the intermediate point cloud data, so that the reliability of ground filtering is remarkably improved; according to the method, the point cloud data of which the absolute value of the target height difference is smaller than the error threshold value in the intermediate point cloud data are filtered out, and the point cloud data of which the linear features belong to the fitting linear threshold value in the intermediate point cloud data are filtered out, so that the existence of redundant points is greatly reduced, and the ground filtering reliability is improved.

Description

technical field [0001] The invention relates to the technical field of ground filtering, in particular to a ground filtering method, equipment, storage medium and computer program product. Background technique [0002] The point cloud map includes a large number of ground points, which not only makes the whole map look very messy, but also brings troubles to the classification, identification and tracking of subsequent obstacle point clouds, so it needs to be removed first. The random sample consensus (RANSAC) algorithm is a commonly used ground filtering algorithm. It calculates the mathematical model parameters of the data based on a set of sample data sets containing abnormal data and obtains effective sample data. [0003] When the road conditions are complex, most of the ground point clouds can be filtered out using the above algorithm, but there are still many redundant points. Based on this, we propose a ground filtering method, equipment, storage media and computer p...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06V10/40G06V10/30
Inventor 许仲秋张欢谢非陈洪涛
Owner 深圳朗道智通科技有限公司
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