Title:
SCAN LINE-BASED ROAD POINT CLOUD EXTRACTION METHOD
Document Type and Number:
WIPO Patent Application WO/2022/121177
Kind Code:
A1
Abstract:
Disclosed is a scan line-based road point cloud extraction method, with steps comprising: S1, extracting a route edge point of each scan line from an on-board point cloud to serve as a starting point of a scan line; S2, using a starting point to perform searching, and determining a ground plane point or a ground object point according to a height difference between the starting point and an adjacent point; S3, if the adjacent point is a ground plane point, adding the adjacent point into a ground plane point set of said scan line; repeating step S2, and determining a next adjacent point; if the adjacent point is a ground object point, then using ground plane points already on scan line and constructing a spatial linear equation, and determining a next adjacent point of the adjacent point, continuing until traversing to the starting point of a next scan line; S4, performing clustering on ground plane points on each scan line, filtering out noise, and obtaining connected scan lines; S5, using the connected scan lines as a basis, selecting a left end point and a right end point of each scan line, fitting left and right side boundaries of a road, and completing road boundary extraction and regularization.
Inventors:
CHEN LEI (CN)
XU ZHONGJIAN (CN)
ZHU BILIANG (CN)
XU YUNHE (CN)
XU ZHONGJIAN (CN)
ZHU BILIANG (CN)
XU YUNHE (CN)
Application Number:
PCT/CN2021/084078
Publication Date:
June 16, 2022
Filing Date:
March 30, 2021
Export Citation:
Assignee:
SPEED SPACE TIME INFORMATION TECH CO LTD (CN)
International Classes:
G06K9/00
Domestic Patent References:
| WO2012056255A1 | 2012-05-03 |
Foreign References:
| CN112200171A | 2021-01-08 | |||
| CN109684921A | 2019-04-26 | |||
| CN108062517A | 2018-05-22 | |||
| CN103778429A | 2014-05-07 | |||
| CN104197897A | 2014-12-10 |
Attorney, Agent or Firm:
NANJING ZHENGLIAN INTELLECTUAL PROPERTY AGENCY CO., LTD (CN)
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