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Laser radar point cloud ground filtering method, device, equipment and medium

A technology of laser radar and filtering method, which is applied in the direction of measuring devices, instruments, and utilization of re-radiation, can solve problems affecting intelligent driving of robots, and achieve good applicability

Pending Publication Date: 2022-05-24
山东新一代信息产业技术研究院有限公司
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Problems solved by technology

[0004] The embodiment of the present application provides a ground filtering method, device, equipment and medium for lidar point cloud, which is used to solve the technical problem that the existing lidar point cloud data contains ground point noise and affects the intelligent driving of robots

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  • Laser radar point cloud ground filtering method, device, equipment and medium
  • Laser radar point cloud ground filtering method, device, equipment and medium
  • Laser radar point cloud ground filtering method, device, equipment and medium

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Embodiment Construction

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0021] The embodiments of the present application provide a ground filtering method, device, device, and medium for a lidar point cloud. The lidar point cloud data is divided by using a method based on partitions and segments, and then the minimum z value in each segment is used. Point, fit the local ground line, and then use the ...

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Abstract

The invention discloses a laser radar point cloud ground filtering method and device, equipment and a medium, and aims to solve the technical problem that existing laser radar point cloud data contains ground point noise. The method comprises the following steps: performing partition division and segmentation division on laser radar point cloud data through a first preset algorithm and a second preset algorithm to obtain a plurality of partitions and a plurality of segments corresponding to the laser radar point cloud data; determining a minimum z value corresponding to the plurality of segments, and extracting a minimum z value point corresponding to the plurality of segments; based on the minimum z value point, obtaining a plurality of local ground straight lines corresponding to any partition through a third preset algorithm; and traversing the laser radar point cloud data in any partition, calculating vertical distances between the laser radar point cloud data and a plurality of local ground straight lines corresponding to adjacent partitions of any partition, and further filtering ground data included in the laser radar point cloud data in any partition. By means of the method, ground filtering is achieved, and the influence of ground points is removed.

Description

technical field [0001] The present application relates to the technical field of robots and intelligent driving, and in particular, to a method, device, equipment and medium for ground filtering of lidar point clouds. Background technique [0002] Lidar point cloud data not only contains obstacle point cloud information, but also ground point cloud information. [0003] In practical applications, the ground point cloud information is used as background information, which will affect the robot's recognition of obstacles, such as pedestrians, vehicles, etc., which will bring inconvenience to the robot's intelligent driving. Therefore, the ground point cloud needs to be used as noise from the laser. Filter out the radar point cloud data. SUMMARY OF THE INVENTION [0004] The embodiments of the present application provide a ground filtering method, device, device and medium for a lidar point cloud, which are used to solve the technical problem that the existing lidar point cl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48G01S17/93
CPCG01S7/4802G01S17/93
Inventor 谢超王本强王建华高明
Owner 山东新一代信息产业技术研究院有限公司
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