CN-116256770-B - Point cloud data processing method, system, device and equipment of laser radar

CN116256770BCN 116256770 BCN116256770 BCN 116256770BCN-116256770-B

Abstract

The application discloses a point cloud data processing method, a system, a device and equipment of a laser radar, wherein the laser radar comprises a plurality of lasers, the lasers comprise a first laser and at least one second laser, a polarizer is arranged on a laser emergent light path of the first laser, and an analyzer is arranged on a receiving light path of a corresponding channel of the first laser in the laser radar, and the method comprises the following steps: acquiring first point cloud data corresponding to the first laser and second point cloud data corresponding to the second laser, filtering out at least one second target point with a distance larger than a preset value by calculating the distance between each second target point in the second point cloud data and a plurality of adjacent points, obtaining updated second point cloud data, and determining the first point cloud data and the updated second point cloud data as point cloud data finally acquired by the laser radar, so that the accuracy of detecting and filtering noise points in the point cloud data can be improved, and the calculated amount can be reduced.

Inventors

Fan tuo

Assignees

上海汽车工业(集团)有限公司
上海汽车集团股份有限公司

Dates

Publication Date: 20260505
Application Date: 20221222

Claims (10)

1. The point cloud data processing method of the laser radar is characterized in that the laser radar is arranged on a vehicle and comprises a plurality of lasers, the plurality of lasers comprise a first laser and at least one second laser, a view field corresponding to the first laser is a front area of the vehicle, a polarizer is arranged on a laser emergent light path of the first laser, and a polarization analyzer is arranged on a receiving light path of a channel corresponding to the first laser in the laser radar; The method comprises the following steps: Acquiring first point cloud data corresponding to the first laser and second point cloud data corresponding to the second laser; determining a second target point from the second point cloud data; searching a plurality of adjacent points adjacent to the second target point from the second point cloud data; respectively calculating the distance between the second target point and each adjacent point; when at least one distance is greater than a preset threshold value, removing the second target point from the second point cloud data to obtain updated second point cloud data; determining a second target point from the updated second point cloud data, and returning to the searching of a plurality of adjacent points adjacent to the second target point from the second point cloud data until each second point in the second point cloud data is determined to be the second target point; and determining the first point cloud data and the updated second point cloud data as point cloud data finally acquired by the laser radar.
2. The method of point cloud data processing according to claim 1, wherein said determining a second target point from said second point cloud data comprises: Generating a distance depth map of the forward looking direction corresponding to the second point cloud data according to the second point cloud data and the projection relation; Generating a point cloud structure diagram according to the point outlet sequence of the point cloud in the distance depth map, wherein the point cloud structure diagram comprises a first area and a second area, the height of the point in the first area is larger than the first height, and the height of the point in the second area is smaller than or equal to the first height; Determining the second target point from the first region and the second region, respectively; the searching for a plurality of neighboring points neighboring the second target point from the second point cloud data includes: searching a first number of adjacent points adjacent to a second target point in the first region from the point cloud structure diagram aiming at the second target point in the first region; searching a second number of adjacent points adjacent to a second target point in the second region from the point cloud structure diagram for the second target point; wherein the first number is smaller than the second number.
3. The point cloud data processing method of claim 2, wherein the point cloud structure map further comprises a third region and a fourth region, the height of the points in the third region being greater than the second height, the height of the points in the fourth region being less than or equal to the third height, and the height of the points in the first region being less than or equal to the second height, the height of the points in the second region being greater than the third height; wherein the third height is less than the first height, and the first height is less than the second height.
4. The point cloud data processing method according to claim 1, wherein the calculating the distance between the second target point and each neighboring point, respectively, includes: and respectively calculating the Euclidean distance between the second target point and each adjacent point.
5. The point cloud data processing method of claim 3, wherein said first height, said second height, and said third height are determined according to a height of a vehicle.
6. A point cloud data processing system of a laser radar comprises the laser radar and a processor, The laser radar is arranged on a vehicle and comprises a plurality of lasers, wherein the plurality of lasers comprise a first laser and at least one second laser, a field of view corresponding to the first laser is a front area of the vehicle, a polarizer is arranged on a laser emergent light path of the first laser, and an analyzer is arranged on a receiving light path of a channel corresponding to the first laser in the laser radar; the processor is configured to perform the method of any of claims 1-5.
7. The point cloud data processing device of the laser radar is characterized in that the laser radar is arranged on a vehicle and comprises a plurality of lasers, the lasers comprise a first laser and at least one second laser, a field of view corresponding to the first laser is a front area of the vehicle, a polarizer is arranged on a laser emergent light path of the first laser, and a polarization analyzer is arranged on a receiving light path of a channel corresponding to the first laser in the laser radar; The device comprises: the acquisition module is used for acquiring first point cloud data corresponding to the first laser and second point cloud data corresponding to the second laser; A first determining module, configured to determine a second target point from the second point cloud data; A searching module, configured to search a plurality of adjacent points adjacent to the second target point from the second point cloud data; The calculating module is used for calculating the distance between the second target point and each adjacent point respectively; The updating module is used for removing the second target point from the second point cloud data when at least one distance is larger than a preset threshold value, and obtaining updated second point cloud data; determining a second target point from the updated second point cloud data, and returning to the searching of a plurality of adjacent points adjacent to the second target point from the second point cloud data until each second point in the second point cloud data is determined to be the second target point; and the second determining module is used for determining the first point cloud data and the updated second point cloud data as point cloud data finally acquired by the laser radar.
8. A point cloud data processing device of a laser radar is characterized by comprising a processor and a memory storing computer program instructions; The processor, when executing the computer program instructions, implements a point cloud data processing method as claimed in any one of claims 1-5.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed by a processor, implement the point cloud data processing method according to any of claims 1-5.
10. A computer program product, characterized in that instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the point cloud data processing method according to any of claims 1-5.

Description

Point cloud data processing method, system, device and equipment of laser radar Technical Field The application belongs to the technical field of point cloud data processing, and particularly relates to a point cloud data processing method, system, device and equipment of a laser radar. Background And the unmanned vehicle is provided with a laser radar, and the laser radar can collect point cloud data in a view field. In a rainy and foggy weather scene, a vehicle in front of an unmanned vehicle can splash. In the process of collecting data, the radar also collects point cloud data corresponding to the water spray and other stains, the point cloud data belong to noise points, the perception system of the laser radar is affected, and misjudgment occurs in the perception system, so that the noise points in the point cloud data need to be removed. The existing removing method is used for detecting and filtering noise points in point cloud data in a mode of searching outliers in the global point cloud, and is low in accuracy and large in calculated amount. Disclosure of Invention The embodiment of the application provides a point cloud data processing method, a system, a device and equipment for a laser radar, which can improve the accuracy of detecting and filtering noise points in point cloud data and reduce the calculated amount. In one aspect, an embodiment of the present application provides a point cloud data processing method for a laser radar, where the laser radar is mounted on a vehicle, the laser radar includes a plurality of lasers, the plurality of lasers include a first laser and at least one second laser, a field of view corresponding to the first laser is a front area of the vehicle, a polarizer is disposed on a laser outgoing light path of the first laser, and an analyzer is disposed on a receiving light path of a channel corresponding to the first laser in the laser radar; the point cloud data processing method comprises the following steps: Acquiring first point cloud data corresponding to a first laser and second point cloud data corresponding to a second laser; determining a second target point from the second point cloud data; Searching a plurality of adjacent points adjacent to the second target point from the second point cloud data; respectively calculating the distance between the second target point and each adjacent point; when at least one distance is greater than a preset threshold value, removing a second target point from the second point cloud data to obtain updated second point cloud data; determining a second target point from the updated second point cloud data, and returning to search a plurality of adjacent points adjacent to the second target point from the second point cloud data until each second point in the second point cloud data is determined to be the second target point; And determining the first point cloud data and the updated second point cloud data as point cloud data finally acquired by the laser radar. In some embodiments of the application, determining the second target point from the second point cloud data comprises: generating a distance depth map of the forward looking direction corresponding to the second point cloud data according to the second point cloud data and the projection relation; Generating a point cloud structure diagram according to the point outlet sequence of the point cloud in the distance depth map, wherein the point cloud structure diagram comprises a first area and a second area, the height of the point in the first area is larger than the first height, and the height of the point in the second area is smaller than or equal to the first height; Determining a second target point from the first region and the second region, respectively; Searching for a plurality of neighboring points from the second point cloud data that are adjacent to the second target point, including: searching a first number of adjacent points adjacent to a second target point in the first region from the point cloud structure diagram aiming at the second target point in the first region; searching a second number of adjacent points adjacent to the second target point from the point cloud structure diagram aiming at the second target point in the second area; wherein the first number is less than the second number. In some embodiments of the application, the point cloud structure map further comprises a third region and a fourth region, the height of the points in the third region being greater than the second height, the height of the points in the fourth region being less than or equal to the third height, and the height of the points in the first region being less than or equal to the second height, the height of the points in the second region being greater than the third height; Wherein the third height is less than the first height, and the first height is less than the second height. In some embodiments of the present application, calculating the distance be