关键词: 无人驾驶汽车, 激光点云, 梯度, 三维网格图, 节点属性

Abstract: Lidar has a great influence on the detection of ground obstacles due to the point swept to the ground.In order to accurately identify obstacles,it is necessary to accurately separate the obstacle point cloud and the ground point cloud.To address the shortcomings of traditional separation methods such as large computational complexity and poor scene versatility of the scene,a point cloud separation method based on three dimensional Mesh graph is proposed.The method connects the collected point cloud data into a Mesh map,finds the ground reference point according to different attributes of the ground point and other points on the Mesh map,spreads the ground attributes to other points and finally separates all the ground points.Experimental results show that the proposed method has a good ground point cloud separation effect while ensuring operational efficiency of the algorithm.

Key words: unmanned vehicle, laser point cloud, gradient, three dimensional Mesh graph, node attributes