Ground multiline three-dimensional laser radar point cloud data filtering method
A point cloud data and three-dimensional laser technology, applied in the field of filtering, can solve the problems of unsuitable multi-line lidar point cloud data processing, inability to use filtering methods, dense sampling points, etc., to achieve fast calculation speed, solution separation, and simple implementation Effect
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[0024] Below in conjunction with accompanying drawing, the present invention will be further described:
[0025] The present invention is divided into two steps altogether. Firstly, it involves the filtering method based on surface fitting to filter out relatively flat ground points, taking the 64-line laser radar on the ground as an example to illustrate. The 64-line laser radar arranges 64 laser beams in the vertical direction, so there are 64 laser foot points corresponding to each horizontal rotation angle, and the laser foot points are unevenly distributed, as shown in the attached figure 1 shown. Define a frame of data as the point cloud data obtained by scanning 360° in the horizontal direction of the lidar. Generally speaking, the ground point is the lowest point of elevation, so for a frame of data, find the lowest point of 64 laser foot points corresponding to each horizontal rotation angle, compare these lowest points, and the elevation difference is greater than ...
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