Ground filtering method and device, storage medium and computer program product

Abstract

The invention relates to the technical field of ground filtering, and discloses a ground filtering method and device, a storage medium and a computer program product, and the method comprises the following steps: obtaining original point cloud data; filtering ground data in the original point cloud data according to a random sample consensus RANSAC algorithm to obtain intermediate point cloud data; calculating point cloud features of the intermediate point cloud data; and filtering the point cloud data of which the point cloud features do not meet a preset condition in the intermediate point cloud data to obtain result point cloud data. According to the invention, through multiple filtering, the obtained result point cloud data has fewer redundant points compared with the intermediate point cloud data, so that the reliability of ground filtering is remarkably improved; according to the method, the point cloud data of which the absolute value of the target height difference is smaller than the error threshold value in the intermediate point cloud data are filtered out, and the point cloud data of which the linear features belong to the fitting linear threshold value in the intermediate point cloud data are filtered out, so that the existence of redundant points is greatly reduced, and the ground filtering reliability is improved.

Description

technical field [0001] The invention relates to the technical field of ground filtering, in particular to a ground filtering method, equipment, storage medium and computer program product. Background technique [0002] The point cloud map includes a large number of ground points, which not only makes the whole map look very messy, but also brings troubles to the classification, identification and tracking of subsequent obstacle point clouds, so it needs to be removed first. The random sample consensus (RANSAC) algorithm is a commonly used ground filtering algorithm. It calculates the mathematical model parameters of the data based on a set of sample data sets containing abnormal data and obtains effective sample data. [0003] When the road conditions are complex, most of the ground point clouds can be filtered out using the above algorithm, but there are still many redundant points. Based on this, we propose a ground filtering method, equipment, storage media and computer p...

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Problems solved by technology

[0003] When the road conditions are complex, most of the ground point clouds can be filtered out using the above algorithm, but there are still many redundant points. Based on this, we propose a ground filtering method, equipment, storage media and computer program products. To solve the deficiencies in the existing technology

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