The invention discloses a real-time track obstacle detection method based on a three-dimensional
point cloud, and the method comprises the steps: carrying out the
processing of three-dimensional
point cloud sequence data collected by a
laser radar, firstly carrying out the coordinate transformation of the
point cloud, converting the coordinates in a European coordinate
system into the coordinates in a
spherical coordinate system, putting each point in the point cloud into a certain
voxel of a cone by using a cone voxelization down-sampling method so as to reduce the calculation amount of subsequent steps; inputting the downsampled points into a local
feature coding module, searching local point clouds by using K-nearest neighbor (KNN), aggregating geometric features of the local point clouds, and connecting the
centroid, neighbor point coordinates, relative coordinates and
Gaussian density features of the local point clouds into a vector; connecting all local point cloud information into a matrix through traversal, and obtaining high-dimensional local feature information of each local point cloud through MLP and maximum
pooling; and finally, utilizing multi-scale three-dimensional sparse
convolution to realize track real-time identification of a single-frame image through a plurality of down-sampling and up-sampling modules.