Title:
GROUND DETECTION METHOD AND APPARATUS, DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/062519
Kind Code:
A1
Abstract:
A ground detection method, comprising: determining the angle between a scan line and a target ground plane according to the coordinates of a bottom center point and the height of a three-dimensional scanner from the target ground plane (S120); according to the angle and the distance between the three-dimensional scanner and a reference ground plane, determining the length of a scan line segment irradiated by the three-dimensional scanner to an edge point of a recessed area (S130); and determining the width of the recessed area according to the length of the scan line segment and the maximum distance between two bottom points (S140). Further provided are a ground detection apparatus, a device, and a computer-readable storage medium.
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Inventors:
PAN JING (CN)
XIA ZHITUO (CN)
SU ZHIFAN (CN)
XIA ZHITUO (CN)
SU ZHIFAN (CN)
Application Number:
PCT/CN2021/102605
Publication Date:
March 31, 2022
Filing Date:
June 28, 2021
Export Citation:
Assignee:
SHANGHAI TAIMI ROBOTICS TECH CO LTD (CN)
International Classes:
G01B21/20; G01S17/00; G06T7/00
Foreign References:
| CN111928811A | 2020-11-13 | |||
| US20180181127A1 | 2018-06-28 | |||
| CN110554409A | 2019-12-10 | |||
| CN111429520A | 2020-07-17 | |||
| CN110782465A | 2020-02-11 | |||
| CN109188448A | 2019-01-11 | |||
| CN104931977A | 2015-09-23 |
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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