Ground point cloud segmentation method and system, ground modeling method and medium

Abstract

The invention discloses a ground point cloud segmentation method and system, a ground modeling method and a medium, and belongs to the technical field of automatic driving, and the method comprises the steps: carrying out the preprocessing of ground point cloud data, and dividing the data into a ground two-dimensional grid; determining grid features corresponding to the ground two-dimensional grids through a pre-trained ground network model; processing the grid features through a ground network model to obtain a grid height prediction value; comparing the grid height predicted value with a corresponding grid height threshold value, and if the grid height predicted value is greater than the grid height threshold value, determining the corresponding ground point cloud data as an obstacle point; and if the grid height prediction value is not greater than the grid height threshold value, determining the corresponding ground point cloud data as a ground point. According to the method, the height of each point cloud grid is calculated through the pre-trained ground network model, the height is compared with the threshold value corresponding to each grid, whether the point cloud grid is a ground point or not is judged, and the accuracy of point cloud segmentation is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of automatic driving, and in particular, to a ground point cloud segmentation method, system, ground modeling method, and medium. Background technique [0002] Lidar can obtain real-time, accurate and reliable environmental information, and is widely used in the environmental perception system of unmanned vehicles. In the road traffic scene, obstacles such as vehicles, pedestrians, and buildings are distributed on the ground and connected to the ground. To realize the perception of these obstacles, we must first distinguish them from the ground points, so the point cloud ground segmentation is laser perception A basic and important link in the system. [0003] At present, there are some methods to segment the point cloud ground, such as clustering algorithm, grid method, model fitting method, but these methods have problems such as relying on fixed thresholds, simple road models,...

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Problems solved by technology

[0004] This application proposes a ground point cloud segmentation method, ground modeling method, system, medium and equipment to solve the problem of using the ground point cloud acquired by lidar to perform ground modeling to obtain the ground, and to perform ground point cloud and non-ground ground segmentation When segmenting by a fixed threshold, the segmentation of the ground point cloud is inaccurate, and there is a problem of over-segmentation or under-segmentation

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