作者投稿和查稿 主编审稿 专家审稿 编委审稿 远程编辑

计算机工程 ›› 2019, Vol. 45 ›› Issue (6): 32-36,44. doi: 10.19678/j.issn.1000-3428.0051022

所属专题: 智能交通专题

• 智能交通专题 • 上一篇    下一篇

基于Mesh的地面激光点云分离方法研究

董敏,陈铁桩,杨浩   

  1. 燕山大学 机械工程学院,河北 秦皇岛 066004
  • 收稿日期:2018-03-30 出版日期:2019-06-15 发布日期:2019-06-15
  • 作者简介:董敏(1973—),女,教授、博士,主研方向为无人车环境感知、智能故障诊断理论;陈铁桩、杨浩,硕士研究生
  • 基金资助:
    河北省教育部科学技术研究项目(211024)。

Research on separation method of ground laser point cloud based on Mesh

DONG Min,CHEN Tiezhuang,YANG Hao   

  1. School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China
  • Received:2018-03-30 Online:2019-06-15 Published:2019-06-15

摘要: 由于激光雷达扫到地面上的点对地面障碍物的检测有较大影响,为准确识别障碍物,需要对障碍物点云和地面点云进行准确分离。针对传统分离方法存在计算量大、场景通用性差等缺点,提出基于三维网格(Mesh)图的点云分离方法。该方法通过将采集到的点云数据连成Mesh图,根据地面点与其他点在Mesh图上的属性不同,找到地面基准点并将地面属性蔓延至其他各点,最终将所有的地面点分离。实验结果表明,该方法在保证算法运行效率的同时,具有良好的地面点云分离效果。

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

中图分类号: