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Point cloud data processing method and device

A technology for point cloud data and processing equipment, which is used in image data processing, instrumentation, computing, etc.

Active Publication Date: 2016-04-20
FUZHOU HUAYING HEAVY IND MACHINERY
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Problems solved by technology

[0006] The invention provides a loose point cloud data segmentation method to solve the problem of large data volume and real-time requirements for loose point cloud data segmentation

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  • Point cloud data processing method and device
  • Point cloud data processing method and device

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Embodiment Construction

[0040] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. It may be evident, however, that such aspects may be practiced without these specific details.

[0041] The inliers refer to points within the segmentation target data. The application of this method can be the classification of the original input data, that is, all points are divided into three categories: internal points (belonging to the ground), external points (belonging to non-ground objects) and unknown points (cannot be classified under certain certainty), It can also be applied to divide point cloud data into figure 2 For the clusters shown, different cluster ...

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Abstract

The invention provides a loose point cloud data segmentation method and device, discloses a point cloud data processing method and device, relates to radar point cloud data segmentation and especially relates to loose point cloud data segmentation. The segmentation method comprises the following steps: S101, inputting point cloud data A and an initial subclass B of inner points, wherein the subclass B of the inner points is also a subclass of the point cloud data A, and the point cloud data A is a set of points with space correlation, formed by radar scanning; S102, calculating a model b most conforming to the subclass B through a random sample consistency algorithm; and S103, taking all points, which do not belong to the subclass B, in the point cloud data A as test points a, testing the model b by use of the test pints a, and dividing the test points into the inner points, outer points and unknown points according to a test result. The segment method provided by the invention can be applied to processing point cloud data established on standard Cartesian coordinates, data compression operation can be selected, and the operation efficiency is improved.

Description

technical field [0001] The invention relates to radar point cloud data segmentation, in particular to loose point cloud data segmentation. Background technique [0002] In the field of unmanned vehicles (or other robots), the 3D point cloud generated by the 3D lidar (or 3D laser ranging sensor) is used for accurate detection and scanning of the environment by the unmanned vehicle, the establishment of a high-resolution environmental map and the The positioning of the vehicle itself in the environment becomes increasingly important. Therefore, the processing of point cloud models, such as surface reconstruction, segmentation, and feature extraction of point cloud data, has become a research hotspot. [0003] Segmentation of point cloud data is the process of identifying regions with the same attributes (spatial location, geometry, laser intensity, spectral features, etc.) in the point cloud. As an important work of unmanned vehicle environment perception, it separates the c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10028
Inventor 潘晨劲赵江宜
Owner FUZHOU HUAYING HEAVY IND MACHINERY
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