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Lidar target detection method based on grid and density clustering algorithm

A density clustering algorithm and laser radar technology, applied in the field of information perception and recognition, can solve the problems of large amount of cloud data, long algorithm search time, troublesome and other problems, and achieve the effect of reducing search time

Active Publication Date: 2018-12-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The lidar target detection algorithm generally uses a density-based clustering algorithm, but due to the large amount of lidar point cloud data, it is cumbersome to cluster directly on the original data, and the algorithm search time is long

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  • Lidar target detection method based on grid and density clustering algorithm
  • Lidar target detection method based on grid and density clustering algorithm

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Embodiment Construction

[0024] The technical solutions and beneficial effects of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] Such as figure 1 As shown, the present invention provides a laser radar target detection method based on a grid and density clustering algorithm, and its specific process steps are as follows:

[0026] (1) Obtain and analyze the original data of the lidar. The data package of the lidar contains important information such as distance, vertical angle, and horizontal angle. These information are expressed in hexadecimal, and they need to be extracted and converted into three-dimensional The form of the coordinates.

[0027] (2) Establish a grid map and perform data projection. The size of the grid is related to the horizontal resolution of the lidar. Assuming that the horizontal resolution of the lidar is close to 20cm but less than 20cm, the size of the grid should be 20cm. After the grid map is established, th...

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Abstract

The invention discloses a laser radar target detection method based on grid and density clustering algorithm, which comprises the following steps: 1, obtaining the original data of the laser radar andanalyzing; 2, establishing a grid map and projecting data; 3, calculating the grid density, judging whether the grid is a dense grid or not, and deleting the sparse grid; 4, replacing the dense gridwith four representative points to generate a new set; 5, adopting a density-based clustering algorithm to complete clustering in the new set. The detection method combines the grid algorithm and density clustering algorithm to solve the problem of large amount of point cloud data in an lidar object detection algorithm, reduce the search time of traditional clustering algorithm, and has the characteristics of fast and efficient.

Description

technical field [0001] The invention belongs to the technical field of information perception and recognition, in particular to a laser radar target detection method based on a grid and density clustering algorithm. Background technique [0002] For unmanned vehicles, one of the important links is to perceive the surrounding environment of the vehicle. Because of its high scanning accuracy and strong anti-interference ability, 3D lidar is widely used in the research of unmanned vehicles. The lidar target detection algorithm generally uses a density-based clustering algorithm, but due to the large amount of lidar point cloud data, it is cumbersome to cluster directly on the original data, and the algorithm search time is longer. Contents of the invention [0003] The purpose of the present invention is to provide a laser radar target detection method based on a grid and density clustering algorithm, which is fast and efficient. [0004] In order to achieve the above object...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06T17/05
CPCG06T17/05G06T2207/10044G06V20/13G06V2201/07G06F18/2321
Inventor 李立君曾庆喜夏晓宇贺宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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