Patent
Ground point cloud segmentation method based on three-dimensional laser radar
Zhao Xiangmo,Sun Pengpeng,Xu Zhigang,Wang Runmin,Min Haigen,Li Xiaochi,Wang Zhen,Wu Xia +7 more
- 22 Mar 2017
17
TL;DR: In this paper, a ground point cloud segmentation method based on a three-dimensional laser radar is proposed, which comprises the steps of acquiring polar coordinate data of 3D laser radar scanning point cloud in the surrounding environment of a vehicle and converting the polar coordinates to a local rectangular coordinate system; correcting radar data by utilizing a vehicle-mounted IMU and an odometer; constructing a polar coordinate grid map, and extracting an extension vertex in each grid according to vertical continuity of point cloud distribution in the grids; extracting ground points in non-marginal grids according to height attributes of the
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Abstract: The invention discloses a ground point cloud segmentation method based on a three-dimensional laser radar. The ground point cloud segmentation method comprises the steps of: 1) acquiring polar coordinate data of three-dimensional laser radar scanning point cloud in the surrounding environment of a vehicle and converting the polar coordinate data to a local rectangular coordinate system; 2) correcting radar data by utilizing a vehicle-mounted IMU and an odometer; 3) constructing a polar coordinate grid map, and extracting an extension vertex in each grid according to vertical continuity of point cloud distribution in the grids; 4) extracting ground points in non-marginal grids according to height attributes of the extension vertexes and a ground smooth consistency criterion, and adopting a 3sigma criterion for further extraction of ground points in marginal grids. Compared with the prior art, the ground point cloud segmentation method can reduce ground extraction errors caused by motion of the vehicle, avoids the occurrence of over-segmentation and under-segmentation, is high in precision and high in reliability, has high real-time performance and can be widely used in the field of radar-based environment sensing technologies.
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Citations
Patent
Local obstacle avoidance path planning method for unmanned bicycle
Wu Jianguo
- 04 Oct 2018
TL;DR: In this article, the authors propose a local obstacle avoidance path planning method for an unmanned bicycle, capable of making a bicycle travel in strict accordance with a planned path, automatically adjusting the velocity according to a path curvature, and when encountering a moving or fixed obstacle, carrying out obstacle avoidance process planning in advance.
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Patent
Obstacle clustering method and obstacle clustering device
Li Qiuxia
- 18 Aug 2017
TL;DR: In this paper, the authors proposed an obstacle clustering method based on three-dimensional point cloud data and a grid map, which consists of three steps: the mapping point is projected to the grid map and an obstacle point is recognized according to the mapping points coordinates and the grid maps.
17
Patent
Target detection method based on 3D laser radar and image data
Zhao Xiangmo,Sun Pengpeng,Xu Zhigang,Wang Runmin,Li Xiaochi,Min Haigen,Shang Xuming,Wu Xia,Wang Zhaoyue +8 more
- 28 Dec 2018
TL;DR: In this article, a target detection method based on 3D laser radar and image data is proposed, which comprises the following steps: acquiring 3D point cloud data and camera images of the surrounding environment by using 3D LRS and camera, and pre-processing the 3D LRRS data; filtering out ground points in the point clouds data, performing a spatial clustering on the remaining non-ground points, and extracting the threeD interest region of the target; calibrating the external parameters of the coordinates of the 3d LRRS and the camera; and mapping the 3
14
Patent
Method and device for road image segmentation based on point cloud data and electronic equipment
Chen Jianglin,Xie Bo +1 more
- 31 Jul 2018
TL;DR: In this article, a method and device for road image segmentation based on point cloud data and electronic equipment is presented, which consists of the steps of obtaining point clouds data of a road image, and performing dimensionality reduction to obtain corresponding 3D tensor data; and segmenting the road image according to the three-dimensional tensors data by using a lightweight deep neural network.
9
Patent
Parking space detection method and device
Xiao Zhiguang,Lai Jianming,Chen Shengjun,Jiang Shaofeng,Zhang Xuefei +4 more
- 19 Feb 2019
TL;DR: In this article, a parking space detection method and device relating to the field of parking space technology is presented. The method comprises: a camera provided at a rear view mirror of a vehicle, an environmental image of one side of the vehicle (101), detecting two adjacent first parking space corner points in the environment image of the side of vehicle (102); detecting whether an obstacle exists in an area between the two first parking spaces corner points (103); and if it is determined by using the ultrasonic sensor that no obstacle exists, determining the position of a first available parking space by
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Patent
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Patent
Point cloud data partitioning method based on three-dimensional laser radar
Xiao Wang,Li Keqiang,Wang Jianqiang,Xu Cheng,Qin Xiaohui,Xie Boyuan +5 more
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TL;DR: In this article, a point cloud data partitioning method based on three-dimensional laser radar is proposed, which comprises the following steps of: (1) establishing a radar coordinate system oxyz of tested vehicles; (2) preprocessing the radar data acquired by the laser radar, establishing a region of interest under the radar coordinate systems oxyz and filtering out ground noise; (3) establishing an image coordinate system o'uv, and defining the mapping relation between the radar coordinates and the image coordinates; (4) testing vehicles on a radar cloud picture directly by using an image
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