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Method for processing point cloud data acquired by laser radar

A technology of lidar and point cloud data, applied in the field of deep learning, can solve problems such as point cloud under-segmentation, over-segmentation, and no solution proposed, so as to avoid under-segmentation or over-segmentation and improve image recognition accuracy

Pending Publication Date: 2022-05-13
CHINA FIRST AUTOMOBILE
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Problems solved by technology

[0003] In related technologies, the target detection algorithm is usually used to detect the data collected by the radar, but the automatic driving system software running on the terminal is limited by the computer hardware resources, and the BEV (bird's eye view, bird's-eye view) projection method, and image segmentation processing of the projected point cloud, but this kind of solution usually has technical problems of under-segmentation or over-segmentation of the point cloud
[0004] For the above problems, no effective solution has been proposed

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  • Method for processing point cloud data acquired by laser radar
  • Method for processing point cloud data acquired by laser radar
  • Method for processing point cloud data acquired by laser radar

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Embodiment Construction

[0039] In order to enable those in the technical field to better understand the scheme of the invention, the technical scheme in the embodiment of the invention will be clearly and completely described below in combination with the attached drawings in the embodiment of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in the art without creative work should belong to the protection scope of the invention.

[0040] It should be noted that the terms "first" and "second" in the description and claims of the invention and the above drawings are used to distinguish similar objects, and need not be used to describe a specific order or order. It should be understood that the data so used can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in...

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Abstract

The invention discloses a method for processing point cloud data collected by a laser radar, and relates to the technical field of deep learning, and the method comprises the steps: obtaining a point cloud set in at least one frame of point cloud image collected by the laser radar; the point cloud set is preprocessed based on the point cloud coordinate information of each point cloud point, foreground point cloud points located above the road surface of the driving road are screened out from the point cloud set, and a target point cloud set is generated; performing clustering segmentation on the target point cloud set by adopting an image segmentation algorithm based on a flooding method to generate a plurality of clusters; and based on the point cloud data in each cluster, calculating geometric data of each obstacle to be identified in the point cloud image, and identifying a target obstacle based on a calculation result. According to the invention, the technical problem of under-segmentation or over-segmentation of the point cloud in the prior art is solved, and the technical effect of improving the image recognition precision is achieved.

Description

technical field [0001] The invention relates to the technical field of deep learning, in particular to a processing method of point cloud data collected by laser radar. Background technology [0002] In the automatic driving system, using lidar to detect obstacles is the key link to realize automatic driving. [0003] In related technologies, the target detection algorithm is usually used to detect the data collected by the radar. However, due to the limitation of computer hardware resources, the auto drive system software running in the terminal usually adopts the Bev (Bird's eye view) projection method for 3D laser radar point cloud computing, and carries out image segmentation processing on the projected point cloud, However, this kind of solution usually has the technical problem of under segmentation or over segmentation for the point cloud. [0004] There is no effective solution to the above problems. summary of the invention [0005] The embodiment of the invention provi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48G01S17/931
CPCG01S7/4802G01S17/931
Inventor 周琳王宇林崇浩庞伟凇耿真李创辉
Owner CHINA FIRST AUTOMOBILE
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