Method, Processor, and LiDAR System for Filtering Out Ghost Points in a Radar Point Cloud

Abstract

The present invention relates to the field of lidar, and particularly to a method, a processor, and a lidar system for filtering trailing points in a lidar point cloud. The method for filtering trailing points in a lidar point cloud according to the present invention includes: for a point to be identified in the point cloud, obtaining ranging information of the point to be identified and one or more auxiliary points on the first side and the second side of the point to be identified in the point cloud information; wherein, the time sequence span between the auxiliary point farthest from the point to be identified on the first side or the second side and the point to be identified is related to the angular resolution of the radar; based on the ranging information of the point to be identified and one or more auxiliary points on the first side and the second side, determining whether the point to be identified is a trailing point; and when the point to be identified is a trailing point, filtering the point to be identified. The present invention makes full use of the ranging characteristics of the lidar, and determines whether each point is a trailing point according to the ranging information of each point, which can filter the trailing points in the lidar point cloud well, and has a direct judgment logic, a small calculation complexity, and high efficiency.

Description

Technical Field

[0001] The present invention relates to the field of lidar, and particularly to a method for filtering out trailing points in lidar point clouds, a processor, and a lidar system. Background Art

[0002] A trailing point refers to a phenomenon in which when the lidar emits light at the same time, the light spot hits the edges of two objects with relatively close distances at the same time, and after the echo superposition, the leading edge and pulse width are inaccurate, forming a point like a connection line between the objects.

[0003] Figure 1 It is a schematic diagram of the formation principle of trailing points in the prior art. As Figure 1 shown, a detection pulse emitted by a Light Detection and Ranging (LiDAR), also known as a lidar, is incident on the edges of a first object and a second object with relatively close front and rear distances at the same time. Part of the light spot on the first object undergoes diffuse reflection, and part of the reflected echo returns to the lidar and is received by the photodetector of the lidar; part of the light spot on the second object also undergoes diffuse reflection, and part of the reflected echo returns to the lidar and is received by the photodetector of the lidar. Therefore, for a detection pulse emitted by the lidar, two echoes are generated, and both of these echoes are received by the photodetector of the lidar. Figure 2 It is a schematic diagram of a lidar point cloud including trailing points in the prior art. As Figure 2 shown, when the lidar generates a point cloud, trailing points as shown in the elliptical frame are formed between the first object and the second object, which may mistakenly be considered that there are other target objects between the first object and the second object. The trailing point phenomenon will cause the leading edge and pulse width of the echo to be inaccurate, thereby affecting the Time of flight (TOF), resulting in inaccurate measurement (the leading edge and pulse width of the echo pulse are mainly used to measure TOF).

[0004] Figure 3 It is a schematic diagram of point clustering in the prior art. As Figure 3 shown, the existing trailing point filtering methods usually adopt a clustering method, such as clustering according to the reflectivity, or the relative position between points, etc., filtering out discrete points that do not meet the clustering conditions, and thus filtering out the trailing points contained therein. Such methods have a high algorithm complexity and low efficiency. Summary of the Invention

[0005] The object of the present invention is to provide a method for filtering out trailing points in lidar point clouds, a processor, and a lidar system, which make full use of the ranging characteristics of the lidar, judge whether each point is a trailing point according to the ranging information of each point, can filter out the trailing points in the lidar point cloud well, and have a direct judgment logic, small calculation complexity, and high efficiency.

[0006] The present invention discloses a method for filtering trailing points in a radar point cloud, and the method includes:

[0007] For a point to be recognized in the point cloud, ranging information of the point to be recognized and one or more auxiliary points on the first side and the second side of the point to be recognized is obtained from the point cloud information; wherein, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is related to the angular resolution of the radar;

[0008] Based on the ranging information of the point to be recognized and the one or more auxiliary points on the first side and the second side, it is determined whether the point to be recognized is a trailing point;

[0009] When the point to be recognized is a trailing point, the point to be recognized is filtered out.

[0010] Optionally, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is equal to the number of the one or more auxiliary points on the first side or the second side multiplied by the multiple between the maximum angular resolution and the minimum angular resolution of the radar.

[0011] Optionally, determining whether the point to be recognized is a trailing point based on the ranging information of the point to be recognized and the one or more auxiliary points on the first side and the second side further includes:

[0012] Based on the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, it is determined whether the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object; wherein, the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side;

[0013] When the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object, the point to be recognized is not a trailing point.

[0014] Optionally, if the ranging information of the point to be recognized is between the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, then the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side.

[0015] Optionally, when the auxiliary points closest to the point to be recognized on the first side and the second side are not on the same object,

[0016] Based on the ranging information of multiple auxiliary points on the first side and the second side, it is determined whether the multiple auxiliary points on the first side are on a first object, and whether the multiple auxiliary points on the second side are on a second object;

[0017] When the multiple auxiliary points on the first side are located on the first object and the multiple auxiliary points on the second side are located on the second object, the point to be recognized is a dragging point.

[0018] Optionally, if the ranging information of the multiple auxiliary points on the first side or the second side is all 0, the point to be recognized is not a dragging point.

[0019] Optionally, the point to be recognized and the one or more auxiliary points on the first side and the second side are all within the maximum threshold distance.

[0020] Optionally, when the auxiliary points closest to the point to be recognized on the first side and the second side are located on the same object, further

[0021] Based on the ranging information of the point to be recognized, and based on the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, determine whether the point to be recognized is close to the auxiliary point closest to the point to be recognized on the first side, or whether the point to be recognized is close to the auxiliary point closest to the point to be recognized on the second side;

[0022] When the point to be recognized is close to the auxiliary point closest to the point to be recognized on the first side, or the point to be recognized is close to the auxiliary point closest to the point to be recognized on the second side, the point to be recognized is not a dragging point.

[0023] Optionally, for each point in the point cloud, sequentially use it as the point to be recognized to execute the steps of the foregoing method for recognition.

[0024] The present invention discloses a processor for executing a method for filtering dragging points in a radar point cloud.

[0025] The present invention discloses a lidar system, including:

[0026] A transmitting device for emitting a laser detection beam;

[0027] A receiving device for receiving the detection beam and performing optoelectronic conversion to obtain a corresponding point cloud;

[0028] It further includes a processor for executing a method for filtering dragging points in a radar point cloud based on the point cloud.

[0029] Compared with the prior art, the main differences and effects of the present invention are:

[0030] The present invention makes full use of the ranging characteristics of lidar, and determines whether each point is a dragging point according to the ranging information of each point, which can well filter the dragging points in the radar point cloud, and the judgment logic is direct, the calculation complexity is small, and the efficiency is high. Description of the Drawings

[0031] Figure 1 It is a schematic diagram of the formation principle of the trailing points of the prior art.

[0032] Figure 2 It is a schematic diagram of the radar point cloud including trailing points of the prior art.

[0033] Figure 3 It is a schematic diagram of the clustering of points of the prior art.

[0034] Figure 4 It is a schematic diagram of a method for filtering trailing points in a radar point cloud according to an embodiment of the present invention.

[0035] Figure 5 It is a schematic diagram of a point to be recognized and one or more auxiliary points on the first side and the second side of the point to be recognized according to an embodiment of the present invention.

[0036] Figure 6 It is a schematic diagram of a method for judging trailing points according to an embodiment of the present invention.

[0037] Figure 7 It is another schematic diagram of a method for judging trailing points according to an embodiment of the present invention.

[0038] Figure 8a It is a schematic diagram of a radar point cloud in the trailing point filtering enabled state according to an embodiment of the present invention.

[0039] Figure 8b It is a schematic diagram of a radar point cloud in the trailing point filtering disabled state according to an embodiment of the present invention. Detailed implementation manners

[0040] To make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0041] The first implementation manner of the present invention relates to a method for filtering trailing points in a radar point cloud.

[0042] Figure 4 It is a schematic diagram of a method for filtering trailing points in a radar point cloud according to an embodiment of the present invention.

[0043] As Figure 4 shown, the method for filtering trailing points in a radar point cloud includes the following steps.

[0044] In step S1, for the point to be recognized in the point cloud, the ranging information of the point to be recognized and one or more auxiliary points on the first side and the second side of the point to be recognized is obtained from the point cloud information. Among them, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is related to the angular resolution of the radar.

[0045] Among them, the ranging information of the point in the point cloud includes the distance d from this point to the radar. Figure 5 It is a schematic diagram of the point to be recognized and one or more auxiliary points on the first side and the second side of the point to be recognized according to an embodiment of the present invention. As Figure 5 shown, the ranging information of the point to be recognized is d 3 , and the ranging information of one or more auxiliary points on the first side of the point to be recognized is d 1 and d 2 , and the ranging information of one or more auxiliary points on the second side of the point to be recognized is d 4 and d 5 .

[0046] Among them, all points in the point cloud are stored at a certain interval to form point cloud information, and each point is searched at this interval. The time sequence span between points can be indicated by the storage span and / or the number of searches between these two points. Specifically, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is related to the angular resolution of the radar. More specifically, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is equal to the number of one or more auxiliary points on the first side or the second side multiplied by the multiple between the maximum angular resolution and the minimum angular resolution of the radar.

[0047] When storing, all points in the point cloud are stored at the minimum angular resolution (for example, 0.1°) as the interval, that is, for every 0.1° and each point is searched at this interval. If it is necessary to obtain the ranging information of two auxiliary points on the first side and the second side of the point to be recognized in the point cloud information respectively, for example, since the number of one or more auxiliary points on the first side or the second side is 2, and the multiple between the maximum angular resolution and the minimum angular resolution of the radar is 4, then the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is 8.

[0048] For example, for a 64-line radar with a scanning range of 360°, whose maximum horizontal angular resolution is 0.4° and minimum horizontal angular resolution is 0.1°, in order to ensure sufficient storage space, the point cloud information is stored at intervals of the minimum angular resolution of 0.1° in the storage structure, that is, 3600 * 64 storage locations are provided as the storage locations for the point cloud information. If within a certain area, for example, within the horizontal angular range of [200°, 320°], the radar uses a scanning mode with an angular resolution of 0.4°, then at this time, actual point cloud information is obtained only every 4 storage locations, and the corresponding time sequence span can be considered to be 4.

[0049] In step S2, based on the ranging information of the point to be recognized and one or more auxiliary points on the first side and the second side, it is determined whether the point to be recognized is a trailing point; and when the point to be recognized is a trailing point, go to step S3 to filter out the point to be recognized, otherwise go to step S4 to retain the point to be recognized.

[0050] Reference Figure 6 , Figure 6 is a schematic diagram of a method for judging trailing points according to an embodiment of the present invention.

[0051] As Figure 6 shown, based on the ranging information of the point to be recognized and one or more auxiliary points on the first side and the second side, determining whether the point to be recognized is a trailing point further includes the following steps.

[0052] In step S21, based on the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, it is determined whether the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object.

[0053] Among them, the point to be recognized and one or more auxiliary points on the first side and the second side can be located on a plate or a surface, and these points being on the same object indicates that these points are on the same plate or surface, or although these points are on different plates or surfaces, the distance difference between these plates or surfaces is within the threshold range. The shape of the plate or surface is not limited, but preferably the plate or surface is as flat as possible, such as a flat plate or a plane, and more preferably the flat plate or plane is perpendicular to the incident direction of the radar, because if the angle between the flat plate or plane and the incident direction of the radar is too large or too small, trailing points may not be filtered out.

[0054] Among them, the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side. More specifically, if the ranging information of the point to be recognized is between the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, then the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side.

[0055] Combined with reference Figure 5 AsFigure 5 As shown, the ranging information of the auxiliary point closest to the point to be recognized on the first side is d 2 , and the ranging information of the auxiliary point closest to the point to be recognized on the second side is d 4 . If d 2 < d 3 < d 4 or d 2 > d 3 > d 4 , that is, d 3 is located between d 2 and d 4 , then the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side.

[0056] For step S21, it is possible to determine whether each point is on the same object based on the relative distance relationship of each point.

[0057] Preferably, a first determination threshold d th0 is set. If |d 4 - d 2 | < d th0 , that is, the difference between d 2 and d 4 is less than d th0 , then it is considered that the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object. Since the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object, it can be determined that the point to be recognized located between these two auxiliary points is also on the same object, that is, the point to be recognized is not a trailing point. Among them, the first determination threshold d th0 can be determined according to the possible error of ranging or the surface unevenness. For example, the first determination threshold d th0 is set to the minimum deviation value of the current ranging, etc.

[0058] In addition, a second determination threshold d th1 is set, where the second determination threshold d th1 is used to combine with the first determination threshold d th0 to determine the positional relationship between the point to be recognized and the auxiliary point. Preferably, if d th1 ≥ |d 4 - d 2 | ≥ d th0 , that is, the difference between d 2 and d 4 is within the range of d th0 to d th1 , then it is considered that the auxiliary points closest to the point to be recognized on the first side and the second side are not on the same object.

[0059] Among them, according to each determination threshold in the embodiments of the present application, such as dth0 , d th1 , d th2 , d th3 , d th4 etc., can be determined based on the statistical information of the actual measurement sizes of common objects in the road scene.

[0060] Preferably, the value range of d th0 can be [300 mm, 500 mm], and the value range of d th2 can be [2500 mm, 3800 mm], and the value range of d th2 can be [30 mm, 50 mm], and the value range of d th3 can be [42 mm, 55 mm].

[0061] Preferably, the value range of d th4 can be from 1 / 2 of the maximum measurement distance of the lidar to the maximum distance. For example, for a lidar with a ranging ability of 200 m, the value of its d th4 can be 200000 mm.

[0062] For example, if d th0 = 410 mm and d th1 = 3200 mm, then if |d 4 - d 2 | < 400 mm, it is considered that the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object. If 3200 mm ≥ |d 4 - d 2 | ≥ 410 mm, it is considered that the auxiliary points closest to the point to be recognized on the first side and the second side are not on the same object.

[0063] When it is determined in step S21 that the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object, go to step S22, and the point to be recognized is not a dragging point; otherwise, go to step S23. Based on the ranging information of multiple auxiliary points on the first side and the second side, determine whether the multiple auxiliary points on the first side are on the first object and whether the multiple auxiliary points on the second side are on the second object. When the multiple auxiliary points on the first side are on the first object and the multiple auxiliary points on the second side are on the second object, go to step S24, and the point to be recognized is a dragging point; otherwise, go to step S25, and the point to be recognized is not a dragging point.

[0064] At this time, further determine whether the auxiliary points on both sides are on the same object according to the third determination threshold d th2 .

[0065] Preferably, in step S23, according to |d 1 - d 2 | < d th2&&|d 4 -d 5 |<d th2 to determine whether multiple auxiliary points on the first side are located on the first object and whether multiple auxiliary points on the second side are located on the second object.

[0066] If |d 1 -d 2 |<d th2 &&|d 4 -d 5 |<d th2 , that is, the difference between d 1 and d 2 and the difference between d 4 and d 5 are both less than d th2 , it is considered that multiple auxiliary points on the first side are located on the first object, and multiple auxiliary points on the second side are located on the second object. Since the auxiliary points closest to the point to be recognized on the first side and the second side are not on the same object, and multiple auxiliary points on each side are respectively on the same object, it can be determined that the point to be recognized and the auxiliary points closest to the point to be recognized on the first side and the second side do not belong to isolated points, and the point to be recognized is neither on the first object nor on the second object, that is, the point to be recognized is a drag point.

[0067] Conversely, if the auxiliary points on at least one side are not on the same object, it is considered that the point to be recognized is not a drag point.

[0068] For example, if d th2 = 39mm, then if |d 1 -d 2 |<39mm && |d 4 -d 5 |<39mm, it is considered that multiple auxiliary points on the first side are located on the first object, and multiple auxiliary points on the second side are located on the second object. If |d 1 -d 2 |≥39mm || |d 4 -d 5 |≥39mm, it is considered that the point to be recognized is not a drag point.

[0069] Among them, if the ranging information of multiple auxiliary points on the first side or the second side is 0, the point to be recognized is not a drag point.

[0070] Combined with the reference Figure 5 , as Figure 5 shown, if (d 1 = 0 && d 2 = 0) || (d 4 = 0 && d 5 = 0), that is, d 1 and d2 are both 0 or d 4 and d 5 If they are both 0, the point to be recognized is not a trailing point. Since the ranging information of multiple auxiliary points on the first side or the second side is both 0, it can be determined that the point to be recognized is not located between two objects, that is, the point to be recognized is not a trailing point.

[0071] As a preferred embodiment, when it is determined to be "yes" in step S23 and before it is determined that the point to be recognized is a trailing point in step S24, step S24' (not shown in the figure) is further executed. In step S24', it is determined that the point to be recognized and one or more auxiliary points on the first side and the second side are all within the maximum threshold d th4 distance range. If it is determined to be "yes" in step S24', it is determined that the point to be recognized is a trailing point. Otherwise, it is determined that the point to be recognized is not a trailing point.

[0072] With reference to Figure 5 , as Figure 5 shown, in step S24', it is determined whether {d 1 , d 2 , d 3 , d 4 , d 5}max < d th4 holds. That is, whether the maximum value of d 1 , d 2 , d 3 , d 4 , and d 5 is less than d th4 . It can be understood that if the point to be recognized and one or more auxiliary points on the first side and the second side are too far away, it will be meaningless to determine whether the point to be recognized is a trailing point.

[0073] For example, if d th4 = 200000mm, if {d 1 , d 2 , d 3 , d 4 , d 5}max < 200000mm, it is considered that the point to be recognized and one or more auxiliary points on the first side and the second side are all within the maximum threshold distance range. If d 1 ≥ 200000mm, d 2 ≥ 200000mm, d 3 ≥ 200000mm, d 4 ≥ 200000mm, and / or d 5 ≥ 200000mm, it is considered that at least one of the point to be recognized and one or more auxiliary points on the first side and the second side is outside the maximum threshold distance range.

[0074] According to another preferred embodiment of this solution, asFigure 7 As shown, when the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object, further in step S221, based on the ranging information of the point to be recognized and the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, determine whether the point to be recognized is close to the auxiliary point closest to the point to be recognized on the first side, or whether the point to be recognized is close to the auxiliary point closest to the point to be recognized on the second side;

[0075] When the point to be recognized is close to the auxiliary point closest to the point to be recognized on the first side, or the point to be recognized is close to the auxiliary point closest to the point to be recognized on the second side, go to step S222, the point to be recognized is not a dragging point, otherwise go to step S223, the point to be recognized is a dragging point.

[0076] Combined reference Figure 5 , as Figure 5 shown, if (d 2 + d th3 < d 3 && d 3 + d th3 < d 4 ) || (d 2 > d 3 + d th3 && d 3 > d 4 + d th3 ), that is, the point to be recognized d 3 is between d 2 and d 4 and the distances from d 2 and d 4 are both greater than d th3 , then it is considered that the point to be recognized is neither close to the auxiliary point closest to the point to be recognized on the first side nor close to the auxiliary point closest to the point to be recognized on the second side, and it is determined that the point to be recognized is a dragging point.

[0077] Conversely, if the point to be recognized is close to the auxiliary point closest to the point to be recognized on the first side, or the point to be recognized is close to the auxiliary point closest to the point to be recognized on the second side, it can be determined that the point to be recognized is close to the edge of an object. Considering that the relative error is not large, the point to be recognized may not be determined as a dragging point, thus retaining the point to be recognized.

[0078] For example, d th3 = 45mm, if (d 2 + 45mm < d 3 && d 3 + 45mm < d 4 ) || (d 2 > d 3 + 45mm && d 3 > d 4+45 mm), it is considered that the point to be recognized is neither close to the auxiliary point closest to the point to be recognized on the first side nor close to the auxiliary point closest to the point to be recognized on the second side. If (d 2 +45 mm ≥ d 3 && d 3 +45 mm < d 4 ) || (d 2 ≤ d 3 +45 mm && d 3 > d 4 +45 mm), it is considered that the point to be recognized is close to the auxiliary point closest to the point to be recognized on the first side. If (d 2 +45 mm < d 3 && d 3 +45 mm ≥ d 4 ) || (d 2 > d 3 +45 mm && d 3 ≤ d 4 +45 mm), it is considered that the point to be recognized is close to the auxiliary point closest to the point to be recognized on the second side.

[0079] Figure 8a is a schematic diagram of the radar point cloud in the dragging point filtering enabled state according to the present invention. Figure 8b is a schematic diagram of the radar point cloud in the dragging point filtering disabled state according to the present invention.

[0080] As Figure 8a and Figure 8b shown, the present invention makes full use of the ranging characteristics of the lidar, and judges whether each point is a dragging point according to the ranging information of each point, and can well filter out the dragging points shown in the elliptical frame in the radar point cloud, and the judgment logic is direct, the calculation complexity is small, and the efficiency is high.

[0081] According to the lidar of the present invention, the recognition and filtering process of the foregoing steps S1 to S4 can be performed by obtaining points one by one from the point cloud. Since the determination of each point in this solution can be completed by a finite number of comparison determinations, therefore, the overall calculation amount is small and the time complexity is low, and good determination and filtering of the dragging points can be achieved under the condition of limited computing resources.

[0082] The embodiment of the present invention also relates to a processor for executing the method of filtering dragging points in the radar point cloud described above.

[0083] The embodiment of the present invention also relates to a lidar system including the processor described above.

[0084] It should be noted that each method embodiment of the present invention can be implemented in software, hardware, firmware, etc. Regardless of whether the present invention is implemented in software, hardware, or firmware, the instruction code can be stored in any type of computer-accessible memory (such as permanent or modifiable, volatile or non-volatile, solid-state or non-solid-state, fixed or replaceable media, etc.). Similarly, the memory can be, for example, Programmable Array Logic (PAL), Random Access Memory (RAM), Programmable Read Only Memory (PROM), Read-Only Memory (ROM), Electrically Erasable Programmable ROM (EEPROM), magnetic disk, optical disk, Digital Versatile Disc (DVD), etc.

[0085] It should be noted that each unit / module mentioned in the device embodiments of the present invention is a logical unit / module. Physically, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. The physical implementation manner of these logical units themselves is not the most important. The combination of the functions implemented by these logical units is the key to solving the technical problems proposed by the present invention. In addition, in order to highlight the innovative part of the present invention, the above device embodiments of the present invention do not introduce units that are not closely related to solving the technical problems proposed by the present invention, which does not mean that there are no other units in the above device embodiments.

[0086] It should be noted that in the claims and the specification of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one" does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0087] Although the present invention has been illustrated and described with reference to certain preferred embodiments thereof, those of ordinary skill in the art should understand that various changes may be made therein in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for filtering out trailing points in a radar point cloud, characterized in that, the method includes: For a point to be recognized in the point cloud, obtain the ranging information of the point to be recognized and one or more auxiliary points on the first side and the second side of the point to be recognized in the point cloud information; wherein, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is related to the angular resolution of the radar, and wherein, the time sequence span between the auxiliary point farthest from the point to be recognized on the first side or the second side and the point to be recognized is equal to the number of the one or more auxiliary points on the first side or the second side multiplied by the multiple between the maximum angular resolution and the minimum angular resolution of the radar; Based on the ranging information of the point to be recognized and the one or more auxiliary points on the first side and the second side, determine whether the point to be recognized is a trailing point; When the point to be recognized is a trailing point, filter out the point to be recognized.

2. The method according to claim 1, characterized in that, Based on the ranging information of the point to be recognized and the one or more auxiliary points on the first side and the second side, determining whether the point to be recognized is a trailing point further includes: Based on the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, determine whether the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object; wherein, the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side; When the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object, the point to be recognized is not a trailing point.

3. The method according to claim 2, characterized in that, If the ranging information of the point to be recognized is between the ranging information of the auxiliary points closest to the point to be recognized on the first side and the second side, then the point to be recognized is located between the auxiliary points closest to the point to be recognized on the first side and the second side.

4. The method according to claim 2, characterized in that, When the auxiliary points closest to the point to be recognized on the first side and the second side are not on the same object, Based on the ranging information of multiple auxiliary points on the first side and the second side, determine whether the multiple auxiliary points on the first side are on the first object, and whether the multiple auxiliary points on the second side are on the second object; When the multiple auxiliary points on the first side are on the first object, and the multiple auxiliary points on the second side are on the second object, the point to be recognized is a trailing point.

5. The method according to claim 4, characterized in that, If the ranging information of the multiple auxiliary points on the first side or the second side is all 0, then the point to be recognized is not a trailing point.

6. The method according to claim 1, characterized in that, The point to be recognized and the one or more auxiliary points on the first side and the second side are all within the maximum threshold distance.

7. The method according to claim 2, characterized in that, When the auxiliary points closest to the point to be recognized on the first side and the second side are on the same object, further Based on the distance measurement information of the point to be identified and based on the distance measurement information of the auxiliary points closest to the point to be identified on the first side and the second side, determining whether the point to be identified is adjacent to the auxiliary point closest to the point to be identified on the first side, or whether the point to be identified is adjacent to the auxiliary point closest to the point to be identified on the second side; When the point to be identified is adjacent to the auxiliary point closest to the point to be identified on the first side, or the point to be identified is adjacent to the auxiliary point closest to the point to be identified on the second side, the point to be identified is not a drag point.

8. The method according to any one of claims 1 to 7, It is characterized in that For each point in the point cloud, the points are sequentially used as the points to be identified to perform the steps of the above method for identification.

9. A processor, It is characterized in that The processor is configured to execute the method for filtering out drag points in a radar point cloud according to any one of claims 1-8.

10. A laser radar, include: A transmitting device for generating a laser detection beam; A receiving device, used for receiving the detection light beam and performing photoelectric conversion to obtain a corresponding point cloud; It is characterized in that it also includes a processor according to claim 9, so as to perform a method of filtering out drag points in the radar point cloud based on the point cloud.

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