Method for filtering drag points in radar point cloud, processor and laser radar system

Abstract

The invention relates to the field of laser radars, in particular to a method for filtering drag points in radar point cloud, a processor and a laser radar system. The method for filtering the drag point in the radar point cloud comprises the following steps: for a to-be-identified point in the point cloud, acquiring the distance measurement information of the to-be-identified point and one or more auxiliary points on the first side and the second side of the to-be-identified point from point cloud information; wherein the time sequence span between the auxiliary point, farthest from the to-be-identified point, of the first side or the second side and the to-be-identified point is related to the angular resolution of the radar; judging whether the to-be-identified point is a drag point based on the distance measurement information of the to-be-identified point and one or more auxiliary points on the first side and the second side; and when the to-be-identified point is the drag point, filtering out the to-be-identified point. According to the method, the ranging characteristic of the laser radar is fully utilized, whether each point is the drag point is judged according to the ranging information of each point, the drag points in the radar point cloud can be well filtered out, the judgment logic is direct, the calculation complexity is small, and the efficiency is high.

Description

technical field [0001] The invention relates to the field of laser radar, in particular to a method, a processor and a laser radar system for filtering out drag points in a radar point cloud. Background technique [0002] The drag point refers to the phenomenon that when the radar emits light at the same time, the light spot hits the edges of two objects with a short distance at the same time. [0003] figure 1 It is a schematic diagram of the formation principle of the drag point in the prior art. like figure 1 As shown in the figure, the Light Detection and Ranging (LiDAR) system, also known as LiDAR, emits a detection pulse simultaneously incident on the edges of the first object and the second object with a relatively close distance in the front and back, and the first object and the second object with a relatively close distance are simultaneously incident on the edges of the first and second objects. Part of the light spot on one object is diffusely reflected, and p...

AI Technical Summary

Problems solved by technology

This method has high algorithm complexity and low efficiency

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