Title:
APPLICATION METHOD FOR TECHNIQUE FOR FILTERING VEHICLE BODY FROM POINT CLOUD DATA OF AUTONOMOUS DRIVING MINING TRUCK
Document Type and Number:
WIPO Patent Application WO/2023/005572
Kind Code:
A1
Abstract:
An application method for a technique for filtering a vehicle body from point cloud data of an autonomous driving mining truck. In the prior art, a scene surrounding a vehicle body is covered by a plurality of laser radars, and point cloud data that is scanned by the laser radars includes point cloud data of a scanned mining truck vehicle body, which results in an abnormal driving behavior of a vehicle. The method of the present invention comprises the following steps: (1) calibration, involving: calibrating sensors of an autonomous driving mining truck, wherein the calibration of a combined navigation device, a laser radar, a camera and the sensors is comprised; (2) bounding box calculation, involving: according to a relative positional relationship between front, rear, left and right sensors and the combined navigation device which are mounted on an autonomous driving mining truck vehicle, calculating the minimum rectangular bounding box of the mining truck vehicle in a horizontal direction; (3) coordinate conversion, involving: converting a point cloud of the laser radar into a coordinate system in the same horizontal direction as a bounding box coordinate system; and (4) point cloud filtering, involving: filtering out all the points of the point cloud that are in the bounding box. The present invention is applied to a technique for filtering a vehicle body from point cloud data of an autonomous driving mining truck.
Inventors:
LIU QIANG (CN)
MA GUANGYU (CN)
ZHANG BO (CN)
YUAN JINXIANG (CN)
PAN BO (CN)
ZHAO YAOZHONG (CN)
TIAN WENMING (CN)
XIAN JINLONG (CN)
LIU YUE (CN)
CAO JUNCHENG (CN)
LIU JINLONG (CN)
DENG CHENGLIANG (CN)
MA GUANGYU (CN)
ZHANG BO (CN)
YUAN JINXIANG (CN)
PAN BO (CN)
ZHAO YAOZHONG (CN)
TIAN WENMING (CN)
XIAN JINLONG (CN)
LIU YUE (CN)
CAO JUNCHENG (CN)
LIU JINLONG (CN)
DENG CHENGLIANG (CN)
Application Number:
PCT/CN2022/101913
Publication Date:
February 02, 2023
Filing Date:
June 28, 2022
Export Citation:
Assignee:
HUANENG YIMIN COAL POWER CO LTD (CN)
International Classes:
G06T5/00
Domestic Patent References:
| WO2021027710A1 | 2021-02-18 |
Foreign References:
| CN113763262A | 2021-12-07 | |||
| CN111932477A | 2020-11-13 | |||
| CN111402161A | 2020-07-10 |
Attorney, Agent or Firm:
BEIJING RAINBOW XINGYUAN INTELLECTUAL PROPERTY LAW FIRM (CN)
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