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Long-distance laser radar point cloud data processing method

A technology of lidar and point cloud data, applied in image data processing, image analysis, image enhancement, etc., can solve problems such as unsatisfactory real-time performance and complex algorithms, and achieve improved recovery accuracy, low information loss, and preservation of environmental features Effect

Pending Publication Date: 2022-05-13
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, this algorithm is too complex and the real-time performance is not ideal.

Method used

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  • Long-distance laser radar point cloud data processing method
  • Long-distance laser radar point cloud data processing method
  • Long-distance laser radar point cloud data processing method

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Embodiment Construction

[0047] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the protection scope of the present invention can be more clearly defined.

[0048] like Figure 1-5 As shown, a method for processing long-distance laser radar point cloud data implemented by the present invention, the specific process includes:

[0049] Step 1: Use the long-distance lidar point cloud acquisition system to scan the target environment where the data is to be collected, collect the flight time of each pixel point, and export and extract the collected data. The collected point cloud is the three-dimensional data composed of the target pixel coordinates and the time of flight of the returned photons of the pixel target.

[0050] figure 2 This is a schematic diagram of the principle of a long-distance laser...

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Abstract

The invention discloses a long-distance laser radar point cloud data processing method, and the method comprises the steps: scanning a target environment of data to be collected through an optical-mechanical scanning system, collecting the photon flight time of each pixel point, and exporting and extracting the collected data; calculating filtering parameters by using a point cloud data segmentation method to complete parameter self-adaption; performing dimension reduction on the data by applying a principal component analysis technology; and carrying out point cloud clustering by applying a density-based spatial clustering denoising (DBSCAN) algorithm, deleting outliers, namely noise points, and finally raising the dimension of the obtained two-dimensional point cloud to three-dimensional point cloud data, thereby completing denoising and filtering of the original point cloud data. According to the method, the algorithm complexity is effectively reduced while the environment characteristics are reserved.

Description

technical field [0001] The invention belongs to the technical field of laser radar, in particular to a method for processing point cloud data of long-distance laser radar. technical background [0002] Lidar is a system that uses laser as the carrier of the signal to detect the distance, azimuth, altitude, speed, intensity, etc. of the target. Using laser to detect long-range non-cooperative targets, it has strong anti-electromagnetic interference ability, good suppression effect on ground objects and background noise, strong anti-stealth ability, good distance, angle, and speed resolution, and can achieve the distance and speed of the target. And the advantages of synchronous acquisition of three-dimensional image information. Lidar makes good use of the advantages of laser in this regard, and can obtain higher imaging accuracy than traditional microwave radar. With the development of lidar, the demand for weak signal detection is becoming stronger and stronger. When the...

Claims

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Application Information

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IPC IPC(8): G06T7/11G06T5/00G06T3/40G06V10/762G06V10/77G06K9/62
CPCG06T7/11G06T3/4038G06T2207/10028G06T2207/10044G06F18/2135G06F18/23213G06T5/70
Inventor 陈钱丁玲慧何伟基张闻文
Owner NANJING UNIV OF SCI & TECH
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