A laser radar point cloud algorithm for filtering out particles in special environment

Abstract

The application provides a laser radar point cloud algorithm for filtering out particles in a special environment, comprising: sampling laser echo signals through two high-speed comparators in a front-end hardware circuit, obtaining two echo sampling results, and inputting the two echo sampling results into a field programmable logic gate array (FPGA); performing a multiple echo detection algorithm in the FPGA; identifying and marking noise echoes caused by air particles according to the two echo sampling results; completing preliminary processing to obtain point cloud data after preliminary processing; dynamically adjusting a radius value in a radius filtering algorithm based on the cosine theorem according to a measurement distance of the laser radar; and performing the radius filtering algorithm on the point cloud data after preliminary processing; identifying and filtering out discrete point noise based on a set radius value and a near neighbor point quantity threshold, so that filtering out of interference particles in the special environment is realized.

Images