Filtering method and device of two-dimensional laser point cloud, electronic equipment and storage medium

Abstract

The application is suitable for the terminal technical field, and particularly relates to a two-dimensional laser point cloud filtering method and device, electronic equipment and a storage medium. The method can obtain the pitch angle and roll angle when the electronic equipment collects the two-dimensional laser point cloud, and can determine the target tilt direction corresponding to the electronic equipment and the target tilt angle corresponding to the two-dimensional laser point cloud according to the pitch angle and the roll angle, so as to determine the angle filtering interval according to the target tilt direction and the target tilt angle, the angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out, thereby the two-dimensional laser point cloud can be filtered according to the angle filtering interval, so as to accurately filter out the 2d laser point cloud hitting the ground, retain other correct and effective laser point cloud, avoid the mispositioning and overlay phenomenon caused by the 2d laser point cloud hitting the ground, and enable accurate positioning by using part of the correct and effective 2d laser point cloud when the electronic equipment is tilted.

Description

Technical Field

[0001] This application belongs to the field of terminal technology, and in particular relates to a filtering method, device, electronic device and computer-readable storage medium for two-dimensional laser point clouds. Background Technology

[0002] Two-dimensional (2D) lasers are commonly used for mapping and localization of mobile robots, such as small commercial cleaning robots or household robotic vacuum cleaners. However, when the robot tilts, some 2D laser point clouds will fall onto the ground. If the local features formed by these ground-based 2D laser point clouds are used to match the global map, localization errors will occur. Therefore, how to filter out these 2D laser point clouds that fall onto the ground due to tilting to reduce localization errors has become a pressing problem in this field. Summary of the Invention

[0003] This application provides a filtering method, apparatus, electronic device, and computer-readable storage medium for two-dimensional laser point clouds. It can accurately filter out 2D laser point clouds that are hit on the ground due to the tilt of the electronic device, reduce erroneous positioning, and reduce the occurrence of image overlay.

[0004] In a first aspect, embodiments of this application provide a filtering method for two-dimensional laser point clouds, applied to electronic devices, the method including:

[0005] The pitch and roll angles of the electronic device during the acquisition of two-dimensional laser point clouds are obtained.

[0006] Based on the pitch angle and the roll angle, determine the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud;

[0007] Based on the target tilt direction and the target tilt angle, an angle filtering interval is determined, wherein the angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out.

[0008] The two-dimensional laser point cloud is filtered according to the angle filtering range.

[0009] In the above-mentioned filtering method for two-dimensional laser point clouds, the pitch and roll angles when the electronic device acquires the two-dimensional laser point cloud can be obtained. Based on the pitch and roll angles, the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud can be determined. Based on the target tilt direction and target tilt angle, the angle filtering interval can be determined. The angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out. Thus, the two-dimensional laser point cloud can be filtered according to the angle filtering interval to accurately filter out the 2D laser point cloud hitting the ground and retain other correct and effective laser point clouds. This avoids mispositioning and image overlay caused by the 2D laser point cloud hitting the ground. It also allows for accurate positioning using some correct and effective 2D laser point clouds when the electronic device is tilted.

[0010] In some embodiments, determining the angle filtering interval based on the target tilt direction and the target tilt angle may include:

[0011] Determine the tilt angle threshold corresponding to the two-dimensional laser point cloud;

[0012] When the target tilt angle is greater than the tilt angle threshold, the angle filtering interval is determined based on the target tilt direction and the target tilt angle.

[0013] In the two-dimensional laser point cloud filtering method provided in this embodiment, the electronic device can predetermine a tilt angle threshold to determine whether 2D laser point cloud filtering is necessary based on the tilt angle threshold and the target tilt angle. Specifically, when the target tilt angle is greater than the tilt angle threshold, the electronic device can determine that its tilt is significant. Since this tilt causes the 2D laser point cloud hitting the ground to have a greater impact on the electronic device's mapping and positioning, the electronic device can determine that 2D laser point cloud filtering is necessary. When the target tilt angle is less than or equal to the tilt angle threshold, the electronic device can determine that its tilt is small, and therefore, 2D laser point cloud filtering is not required.

[0014] Optionally, the electronic device is equipped with a laser device, and determining the tilt angle threshold corresponding to the two-dimensional laser point cloud may include:

[0015] Obtain the installation height and the maximum distance corresponding to the laser device;

[0016] Based on the installation height and maximum distance of the laser device, the tilt angle threshold corresponding to the two-dimensional laser point cloud is determined.

[0017] It's understandable that the installation height of a laser device can refer to the distance between the laser device and the lowest point of the electronic device. For example, when the electronic device is located on the ground, its lowest point can coincide with the ground; in this case, the installation height of the laser device can refer to the distance between the laser device and the ground. The maximum distance of the laser device can refer to its maximum range, that is, the farthest distance the laser can reach.

[0018] For example, determining the angle filtering interval based on the target tilt direction and the target tilt angle may include:

[0019] The first angle is determined based on the target tilt direction, the target tilt angle, and the tilt angle threshold.

[0020] The angle filtering interval is determined based on the first angle and the target tilt direction.

[0021] Optionally, the target tilt direction is characterized by an angle, and determining the first angle based on the target tilt direction, the target tilt angle, and the tilt angle threshold may include:

[0022] The first angle is determined according to the following formula:

[0023]

[0024] Wherein, θ is the first angle, tilt is the target tilt angle, tilt_min is the tilt angle threshold, and angle_tilt is the target tilt direction.

[0025] In one possible implementation, when the laser angles are ordered as [-π, π], determining the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle may include:

[0026] The target tilt direction is determined according to the following formula:

[0027]

[0028] Where angle_tilt is the target tilt direction, pitch is the pitch angle, and roll is the roll angle.

[0029] In another possible implementation, when the laser angles are ordered as [π, -π], determining the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle may include:

[0030] The target tilt direction is determined according to the following formula:

[0031]

[0032] In another possible implementation, determining the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle may include:

[0033] The target tilt angle tilt angle tiltt is determined according to the following formula:

[0034] tilt=arccos(cos(pitch)×cos(roll)).

[0035] Secondly, embodiments of this application provide a filtering device for two-dimensional laser point clouds, applied to electronic devices, the device including:

[0036] Angle acquisition module, used to acquire the pitch angle and roll angle when the electronic device collects two-dimensional laser point clouds;

[0037] The tilt direction determination module is used to determine the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle.

[0038] The filtering interval determination module is used to determine the angle filtering interval based on the target tilt direction and the target tilt angle, wherein the angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out.

[0039] The filtering module is used to filter the two-dimensional laser point cloud according to the angle filtering range.

[0040] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the electronic device implements the filtering method for two-dimensional laser point clouds as described in any of the first aspects above.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a computer, causes the computer to implement the filtering method for two-dimensional laser point clouds described in any one of the first aspects.

[0042] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to execute the filtering method for two-dimensional laser point clouds described in any of the first aspects above.

[0043] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a flowchart illustrating a filtering method for two-dimensional laser point clouds provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of an application scenario provided in the embodiments of this application;

[0047] Figure 3 This is a schematic diagram of the structure of a filtering device for two-dimensional laser point clouds provided in an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0049] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0050] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0051] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0052] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0053] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0055] The filtering method for two-dimensional laser point clouds provided in this application embodiment can be applied to electronic devices such as robots, mobile phones, tablets, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs). This application embodiment does not impose any restrictions on the specific type of electronic device.

[0056] 2D laser mapping is commonly used for mapping and localization of mobile robots, such as small commercial cleaning robots or household robotic vacuum cleaners. When the robot tilts, some 2D laser point clouds will fall onto the ground. If the local features formed by these ground-based 2D laser point clouds are used to match the global map, localization errors will occur, leading to image overlay issues. To avoid localization errors and image overlay problems, these laser point clouds that fall onto the ground due to the tilt need to be filtered out.

[0057] Existing methods for filtering laser point clouds hitting the ground are generally applied to 3D laser point clouds, utilizing their height information for filtering. However, unlike 3D laser point clouds, 2D laser point clouds lack height information. Therefore, it's impossible to filter 2D laser point clouds that are hitting the ground at an angle based on their height.

[0058] Therefore, how to filter out these 2D laser point clouds that are tilted and hit the ground to reduce positioning errors has become an urgent problem to be solved in this field.

[0059] To address the aforementioned problems, embodiments of this application provide a filtering method, apparatus, electronic device, and computer-readable storage medium for two-dimensional laser point clouds. In this method, the pitch and roll angles of the electronic device during the acquisition of the two-dimensional laser point cloud are obtained. Based on the pitch and roll angles, the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud are determined. An angle filtering interval is then determined based on the target tilt direction and target tilt angle; this interval corresponds to the angle range of the laser point cloud to be filtered out. Thus, the two-dimensional laser point cloud can be filtered according to the angle filtering interval to accurately filter out 2D laser point clouds hitting the ground, while retaining other correct and valid laser point clouds. This avoids mispositioning and image overlay caused by 2D laser point clouds hitting the ground. It allows for accurate positioning even when the electronic device is tilted, utilizing only partially correct and valid 2D laser point clouds, demonstrating strong ease of use and practicality.

[0060] The filtering method for two-dimensional laser point clouds provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific application scenarios.

[0061] Please see Figure 1 , Figure 1 This diagram illustrates a schematic flowchart of a filtering method for two-dimensional laser point clouds provided in an embodiment of this application. This method can be applied to electronic devices. The following description uses a robot as an example of an electronic device. Figure 1 As shown, the method may include:

[0062] S101. Obtain the pitch and roll angles when the electronic device collects two-dimensional laser point clouds.

[0063] For example, an electronic device (such as a robot) may be equipped with a laser device, such as a lidar, which can be used by the robot to collect 2D laser point clouds.

[0064] For example, an inertial measurement unit (IMU) can be installed in an electronic device (such as a robot). The robot can use the IMU in the robot to obtain the pitch and roll angles when the robot acquires 2D laser point clouds.

[0065] Optionally, after acquiring the pitch and roll angles of the 2D laser point cloud collected by the robot, the pitch and roll angles can be converted to the robot body coordinate system (base_link). Similarly, after acquiring the 2D laser point cloud collected by the robot, the 2D laser point cloud can be converted to the robot body coordinate system so as to perform filtering processing on the 2D laser point cloud based on the pitch and roll angles and the 2D laser point cloud in the converted robot body coordinate system (base_link).

[0066] It is understood that the robot's body coordinate system can be determined according to the specific scenario, and this application embodiment does not impose any restrictions on it. For example, the robot's body coordinate system can be a coordinate system established with the robot's center point as the origin, the robot's forward direction as the x-axis, the vertical direction as the y-axis, and the robot's right side as the z-axis. Similarly, the specific method of converting the pitch angle, roll angle, and two-dimensional laser point cloud to the robot's body coordinate system can be determined according to the specific scenario, and this application embodiment does not impose any restrictions on it.

[0067] S102. Based on the pitch angle and roll angle, determine the target tilt direction corresponding to the electronic equipment and the target tilt angle corresponding to the two-dimensional laser point cloud.

[0068] For example, the target tilt direction corresponding to the robot can be the maximum tilt direction when the robot acquires a two-dimensional laser point cloud. The tilt direction is characterized by an angle. For example, it can be characterized by π / 4, π / 3, -π / 4, or -π / 3.

[0069] Optionally, robot tilt generally refers to the robot's tilt in the vertical direction. That is, the target tilt direction of the robot can be the tilt angle of the robot in the vertical direction.

[0070] In one example, when the laser angles are ordered as [-π, π], the robot can determine the target tilt direction corresponding to the robot according to the following formula.

[0071]

[0072] Where angle_tilt is the target tilt direction corresponding to the robot, pitch is the pitch angle when the robot collects the two-dimensional laser point cloud, and roll is the roll angle when the robot collects the two-dimensional laser point cloud.

[0073] In another example, when the laser angles are ordered as [π, -π], the robot can determine the target tilt direction corresponding to the robot according to the following formula 2.

[0074]

[0075] For example, the target tilt angle corresponding to the two-dimensional laser point cloud can be the maximum angle of the two-dimensional laser point cloud collected by the laser device in the robot when the robot is in a tilted state.

[0076] In one example, the robot can determine the target tilt angle tilt (tilt) corresponding to the two-dimensional laser point cloud according to the following formula (Formula 3).

[0077] tilt = arccos(cos(pitch) × cos(roll)). (Formula 3)

[0078] S103. Determine the angle filtering interval based on the target tilt direction and target tilt angle. The angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out.

[0079] In one possible implementation, the robot can predetermine a tilt angle threshold to determine whether 2D laser point cloud filtering is necessary based on the tilt angle threshold and the target tilt angle.

[0080] For example, when the target tilt angle is greater than a tilt angle threshold, the robot can determine that its tilt is too large, and therefore, the robot can determine that 2D laser point cloud filtering is required. When the target tilt angle is less than or equal to the tilt angle threshold, the robot can determine that its tilt is too small, and therefore, the robot can determine that 2D laser point cloud filtering is not required.

[0081] In other words, after determining the target tilt angle, the robot can first determine whether 2D laser point cloud filtering is necessary based on the target tilt angle and a tilt angle threshold. If it is determined that 2D laser point cloud filtering is required, the robot can determine an angle filtering interval based on the target tilt direction and tilt angle, and then perform the 2D laser point cloud filtering based on that interval. If it is determined that 2D laser point cloud filtering is not required, the robot does not need to determine an angle filtering interval.

[0082] In one example, the laser device in the robot can be a horizontally mounted laser device. In this case, the robot can determine the tilt angle threshold corresponding to the two-dimensional laser point cloud based on the installation height and the maximum distance of the laser device.

[0083] It should be understood that the installation height can refer to the distance between the laser device and the lowest point of the robot. For example, when the robot is on the ground, its lowest point can coincide with the ground. In this case, the installation height of the laser device can refer to the distance between the laser device and the ground. The maximum distance of the laser device can refer to its maximum range, that is, the farthest distance the laser can reach.

[0084] Optionally, the robot can determine the tilt angle threshold corresponding to the laser point cloud according to Formula 4 below.

[0085]

[0086] Where h_laser is the installation height of the laser device, which can be in meters (m), and range_max is the maximum distance of the laser device.

[0087] In one possible implementation, the robot can first determine a first angle based on the target tilt direction, the target tilt angle, and a tilt angle threshold. Subsequently, the robot can determine an angle filtering interval based on the first angle and the target tilt direction.

[0088] Optionally, the robot can determine the angle filtering interval as (target tilt direction - first angle, target tilt direction + first angle).

[0089] Optionally, the robot can determine the first angle according to the following formula five:

[0090]

[0091] Where θ is the first angle, tilt is the target tilt angle, tilt_min is the tilt angle threshold, and angle_tilt is the target tilt direction.

[0092] Please see Figure 2 , Figure 2 A schematic diagram of an application scenario provided by an embodiment of this application is shown. This application scenario is illustrated using an example where the laser angles are ordered as [π, -π]. In this application scenario, the robot's coordinate system can be a coordinate system established with the robot's center point as the origin, the robot's forward direction as the x-axis, the vertical direction as the y-axis, and the robot's right side as the z-axis.

[0093] Assuming that the robot's pitch and roll angles are both π / 4 when acquiring 2D laser point clouds, the robot can determine the target's tilt direction as π / 4 according to formula (ii) above. That is, the robot's angle with the vertical direction can be π / 4. In other words, if... Figure 2 As shown, when the robot was collecting 2D laser point clouds, it tilted 45° in the direction of travel. Figure 2 The angle indicated by the arrow in the image is 45°.

[0094] Assuming that the robot determines the first angle θ as 20° based on the target tilt direction, the target tilt angle, and the tilt angle threshold, then the robot can determine the angle filtering range as (45°-20°, 45°+20°), that is, the angle filtering range can be (25°, 65°).

[0095] S104. Filter the two-dimensional laser point cloud according to the angle filtering range.

[0096] Optionally, after determining the angle filtering interval, the robot can determine the angle corresponding to each 2D laser point cloud, so as to determine the 2D laser point cloud located within the angle filtering interval based on the angle corresponding to each 2D laser point cloud, and can filter out the 2D laser point cloud located within the angle filtering interval. For example, the range of the 2D laser point cloud located within the angle filtering interval can be set to 0 to obtain the 2D laser point cloud that reaches the ground due to tilting.

[0097] For example, when the angle filtering range is (25°, 65°), the robot can find all 2D laser point clouds with angles in the range of (25°, 65°) and filter these 2D laser point clouds to remove the 2D laser point clouds that hit the ground due to the robot's tilt.

[0098] In this embodiment, the pitch and roll angles of the electronic device when acquiring the two-dimensional laser point cloud can be obtained. Based on the pitch and roll angles, the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud can be determined. Based on the target tilt direction and target tilt angle, an angle filtering interval can be determined. The angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out. Thus, the two-dimensional laser point cloud can be filtered according to the angle filtering interval to accurately filter out the 2D laser point cloud hitting the ground and retain other correct and effective laser point clouds. This avoids mispositioning and image overlay caused by the 2D laser point cloud hitting the ground. It also allows for accurate positioning using some correct and effective 2D laser point clouds when the electronic device is tilted.

[0099] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0100] Corresponding to the filtering method for two-dimensional laser point clouds described in the above embodiments, Figure 3 This diagram illustrates a structural block diagram of a two-dimensional laser point cloud filtering device according to an embodiment of this application. For ease of explanation, Figure 3 Only the parts relevant to the embodiments of this application are shown.

[0101] Reference Figure 3 The device includes:

[0102] Angle acquisition module 301 is used to acquire the pitch angle and roll angle when the electronic device collects two-dimensional laser point clouds;

[0103] The tilt direction determination module 302 is used to determine the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle.

[0104] The filtering interval determination module 303 is used to determine the angle filtering interval based on the target tilt direction and the target tilt angle, wherein the angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out.

[0105] The filtering module 304 is used to filter the two-dimensional laser point cloud according to the angle filtering range.

[0106] In one example, the filtering interval determination module 303 is further configured to determine the tilt angle threshold corresponding to the two-dimensional laser point cloud; when the target tilt angle is greater than the tilt angle threshold, the angle filtering interval is determined according to the target tilt direction and the target tilt angle.

[0107] For example, the electronic device is equipped with a laser device, and the filter interval determination module 303 is further used to obtain the installation height corresponding to the laser device and the maximum distance corresponding to the laser device; and to determine the tilt angle threshold corresponding to the two-dimensional laser point cloud based on the installation height and maximum distance corresponding to the laser device.

[0108] In one possible implementation, the filtering interval determination module 303 is further configured to determine a first angle based on the target tilt direction, the target tilt angle, and the tilt angle threshold; and to determine the angle filtering interval based on the first angle and the target tilt direction.

[0109] For example, the target tilt direction is characterized by an angle, and the filter interval determination module 303 is further configured to determine the first angle according to the following formula:

[0110]

[0111] Wherein, θ is the first angle, tilt is the target tilt angle, tilt_min is the tilt angle threshold, and angle_tilt is the target tilt direction.

[0112] In one example, the tilt direction determination module 302 is further configured to determine the target tilt direction according to the following formula:

[0113]

[0114] Where angle_tilt is the target tilt direction, pitch is the pitch angle, and roll is the roll angle.

[0115] In another example, the tilt direction determination module 302 is further configured to determine the target tilt angle tilt according to the following formula:

[0116] tilt=arccos(cos(pitch)×cos(roll)).

[0117] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0118] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0119] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 4 in this embodiment includes: a laser device 40, an inertial measurement unit 41, and at least one processor 42. Figure 4The image shows only one of the following: a memory 43 and a computer program 44 stored in the memory 43 and executable on the at least one processor 42. The laser device 40 is used to emit a 2D laser and acquire a 2D laser point cloud. The inertial measurement unit 41 is used to acquire the pitch and roll angles of the electronic device 4 during the acquisition of the 2D laser point cloud. When the processor 42 executes the computer program 42, it implements the steps in any of the above-described embodiments of the filtering method for two-dimensional laser point clouds.

[0120] The electronic device 4 can be a robot, desktop computer, laptop, handheld computer, or mobile phone, etc. This electronic device may include, but is not limited to, a laser device 40, an inertial measurement unit 41, a processor 42, and a memory 43. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0121] The processor 42 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0122] In some embodiments, the memory 43 may be an internal storage unit of the electronic device 4, such as a hard disk or memory of the electronic device 4. In other embodiments, the memory 43 may be an external storage device of the electronic device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 4. Furthermore, the memory 43 may include both internal and external storage units of the electronic device 4. The memory 43 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 43 can also be used to temporarily store data that has been output or will be output.

[0123] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described embodiments of the filtering methods for two-dimensional laser point clouds.

[0124] This application provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps in the above-described two-dimensional laser point cloud filtering method embodiments.

[0125] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable storage media cannot be electrical carrier signals or telecommunication signals.

[0126] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0127] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0128] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0129] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0130] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A filtering method for two-dimensional laser point clouds, characterized in that, Applied to an electronic device in which a laser device is installed, the method includes: The pitch and roll angles of the electronic device during the acquisition of two-dimensional laser point clouds are obtained. Based on the pitch angle and the roll angle, determine the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud; Based on the target tilt direction and the target tilt angle, an angle filtering interval is determined, wherein the angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out. The two-dimensional laser point cloud is filtered according to the angle filtering range; The step of determining the angle filtering interval based on the target tilt direction and the target tilt angle includes: Obtain the installation height and the maximum distance corresponding to the laser device; Based on the installation height and maximum distance of the laser device, determine the tilt angle threshold corresponding to the two-dimensional laser point cloud; A first angle is determined based on the target tilt direction, the target tilt angle, and the tilt angle threshold; the target tilt direction is characterized by an angle, and determining the first angle based on the target tilt direction, the target tilt angle, and the tilt angle threshold includes: The first angle is determined according to the following formula: ； in, For the first angle, The target tilt angle, The tilt angle threshold is... The target tilt direction; The angle filtering interval is determined based on the first angle and the target tilt direction.

2. The method according to claim 1, characterized in that, The step of determining the angle filtering interval based on the target tilt direction and the target tilt angle includes: Determine the tilt angle threshold corresponding to the two-dimensional laser point cloud; When the target tilt angle is greater than the tilt angle threshold, the angle filtering interval is determined based on the target tilt direction and the target tilt angle.

3. The method according to claim 1, characterized in that, Determining the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle includes: The target tilt direction is determined according to the following formula: ； in, The target tilt direction. The pitch angle is... The roll angle is mentioned.

4. The method according to any one of claims 1 to 3, characterized in that, Determining the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle includes: The target tilt angle is determined according to the following formula. : ； in, Pitch The pitch angle is... The roll angle is mentioned.

5. A filtering device for two-dimensional laser point clouds, characterized in that, Applied to electronic devices, wherein the electronic devices are equipped with laser devices, the devices comprising: Angle acquisition module, used to acquire the pitch angle and roll angle when the electronic device collects two-dimensional laser point clouds; The tilt direction determination module is used to determine the target tilt direction corresponding to the electronic device and the target tilt angle corresponding to the two-dimensional laser point cloud based on the pitch angle and the roll angle. The filtering interval determination module is used to determine the angle filtering interval based on the target tilt direction and the target tilt angle, wherein the angle filtering interval is the angle interval corresponding to the laser point cloud to be filtered out. The filtering module is used to filter the two-dimensional laser point cloud according to the angle filtering range; Specifically, the filtering interval determination module is used to obtain the installation height and maximum distance corresponding to the laser device; determine the tilt angle threshold corresponding to the two-dimensional laser point cloud based on the installation height and maximum distance corresponding to the laser device; determine a first angle based on the target tilt direction, the target tilt angle, and the tilt angle threshold; and determine the angle filtering interval based on the first angle and the target tilt direction. The target tilt direction is characterized by an angle, and the filtering interval determination module is further configured to determine the first angle according to the following formula: ； in, For the first angle, The target tilt angle, The tilt angle threshold is... The tilt direction of the target.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the electronic device to implement the filtering method for two-dimensional laser point clouds as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the computer, it enables the computer to implement the filtering method for two-dimensional laser point clouds as described in any one of claims 1 to 4.

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