CN113721261A - Point cloud tailing removing method and device, electronic equipment and readable storage medium - Google Patents
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Abstract
The invention discloses a method and a device for removing point cloud tailing, electronic equipment and a readable storage medium, wherein the method is based on the root cause generated by the tailing phenomenon in the point cloud so as to judge whether a reflection point is a tailing point, namely aiming at each reflection point except the first and the last reflection points in the point cloud data, calculating the connecting line between the reflection point and the previous and the next reflection points and the included angle between the connecting line and the connecting line between the point and a laser radar; obtaining a total included angle according to the first included angle and the second included angle; finally, judging whether the reflection point is a trailing point or not according to whether the absolute value of the difference value between the total included angle and pi is greater than or equal to a preset threshold value or not; therefore, the method does not need to use an outlier detection algorithm to remove the trailing point, so that the problems that the statistical characteristics of the point cloud existing in the outlier detection algorithm are difficult to predict, missing detection and false detection are easy to occur, and data distortion is caused are solved, and the trailing removal effect is improved.
Description
Technical Field
The invention belongs to the technical field of removing trailing points in point cloud data, and particularly relates to a method and a device for removing point cloud trailing, electronic equipment and a readable storage medium.
Background
The laser radar sensor can provide real-time and accurate scene information, has the inherent advantage of sensing the environment, has the advantages of large range finding range, high precision and the like, and is widely applied to the fields of unmanned driving, security monitoring, surveying and mapping and the like; in general, information acquired after the laser radar scans a target obstacle is generally presented in the form of a point cloud, and the principle is as follows: one laser pulse is sent at each sampling to complete the measurement of each object to be detected.
Ideally, the laser pulse is a point when hitting on the target, but actually, the laser exits with a certain divergence angle, and the light spot is a plane when hitting on the object; therefore, when two front and rear objects exist and laser just hits the edge of the front object, a part of laser energy can possibly hit the rear object, the return light is the superposition of two facula reflected lights, and the radar can judge that a measurement target is between the two surfaces to cause a tailing phenomenon; when the point cloud is viewed, the false image that an entity barrier exists between a front separated object and a rear separated object can be formed, so that much inconvenience is brought to systems such as navigation, path planning and the like; therefore, the trailing point in the point cloud data needs to be removed to ensure the measurement accuracy.
At present, trailing points in point clouds are mostly regarded as outliers, and are searched and removed through an outlier detection algorithm; however, the outlier is a kind of noise in statistics, the outlier detection algorithm is also based on the features of statistics, and the method for removing the point cloud tailing has the inherent defects, namely the following defects exist: (1) the statistical characteristics of the point cloud data are different according to different environments, so that the statistical characteristics of the point cloud in the current environment can be difficultly predicted before measurement; (2) the point cloud tailing is an inherent phenomenon in optical measurement, is similar to outliers in noise but is different from outliers, and the condition of missing detection and false detection is easy to occur by applying an outlier detection algorithm; (3) when the tailing is removed, other outliers are eliminated, and data distortion is caused; therefore, a technique directed to the smear phenomenon is required to remove smear data, thereby improving the smear removal effect.
Disclosure of Invention
The invention aims to provide a method and a device for removing point cloud tailing, electronic equipment and a readable storage medium, and aims to solve the problems that the existing method for removing the point cloud tailing by adopting an outlier detection algorithm is difficult to predict in the statistical characteristics of the point cloud, easy to miss detection and error detection and can cause data distortion.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a method for removing a point cloud tailing, which comprises the following steps:
acquiring point cloud data in any frame obtained by scanning of a laser radar, wherein the point cloud data comprises a plurality of reflection points arranged according to a scanning sequence;
calculating a first included angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the laser radar, wherein i is an integer greater than 1;
calculating a second included angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the laser radar;
summing the first included angle and the second included angle to obtain a total included angle;
calculating the absolute value of the difference value between the total included angle and pi;
judging whether the absolute value of the difference value is greater than or equal to a preset threshold value or not;
and if so, deleting the ith reflection point, and when i is circulated from 2 to n-1, obtaining the point cloud data from which the trailing points are removed, wherein n is the total number of the reflection points in the point cloud data.
Based on the disclosure, the invention aims at each reflection point except the first and the last reflection points in the point cloud data, and calculates the included angle between the connecting line between the point and the connecting line of the laser radar and the connecting line between the point and the previous reflection point and the next reflection point; obtaining a total included angle according to the first included angle and the second included angle; finally, judging whether the reflection point is a trailing point or not according to whether the absolute value of the difference value between the total included angle and pi is greater than or equal to a preset threshold value or not; if the number of the reflection points is larger than or equal to the number of the reflection points, the reflection points are hit on a following object, the reflection points are trailing points and should be removed, the steps are repeated until the n-1 th reflection point is calculated, and the point cloud data with the trailing points removed can be obtained.
Through the design, the method is based on the root cause of the tailing phenomenon in the point cloud, so that whether the reflection point is a tailing point or not is judged; firstly, calculating an included angle formed between a connecting line between a reflection point and a previous reflection point of the reflection point and a connecting line between the reflection point and a laser radar, and an included angle formed between a connecting line between the reflection point and a next reflection point of the reflection point and a connecting line between the reflection point and the laser radar, then calculating the sum of the two and the absolute value of the difference value of pi, and finally judging whether the reflection point is a trailing point by comparing the absolute value of the difference value with the size relation of a preset threshold value; therefore, the problems that the statistical characteristics of the point cloud existing in the outlier detection algorithm are difficult to predict, missing detection and false detection are easy to occur, and data distortion is caused can be solved, so that the tailing removal effect is improved.
In one possible design, calculating a first angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the lidar includes:
acquiring the distance from the ith reflection point to the laser radar and the distance from the (i-1) th reflection point to the laser radar;
acquiring a connecting line between the laser radar and the ith reflection point, and recording an included angle formed by the connecting line between the laser radar and the ith-1 reflection point as a third included angle;
and obtaining the first included angle according to the distance from the ith reflection point to the laser radar, the distance from the ith-1 reflection point to the laser radar and the third included angle.
In one possible design, obtaining the first included angle according to the distance from the ith reflection point to the lidar, the distance from the i-1 th reflection point to the lidar, and the third included angle includes:
calculating to obtain the first included angle according to the following formula;
in the above formula, α represents a first angle, r1Is the distance, r, from the i-1 st reflection point to the lidar0And theta is the distance from the ith reflection point to the laser radar, and theta is the third included angle.
In one possible design, calculating a second angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the lidar includes:
obtaining the distance from the (i + 1) th reflection point to the laser radar;
acquiring a connecting line between the laser radar and the (i + 1) th reflection point, and recording an included angle formed by the connecting line between the laser radar and the ith reflection point as a fourth included angle;
and obtaining the second included angle according to the distance from the ith reflection point to the laser radar, the distance from the (i + 1) th reflection point to the laser radar and the fourth included angle.
In one possible design, the method of claim 4, wherein obtaining the second angle according to a distance from the ith reflection point to the lidar, a distance from the (i + 1) th reflection point to the lidar, and the fourth angle comprises:
calculating to obtain the second included angle according to the following formula;
in the above formula, β represents a second angle,r2and gamma is the fourth included angle, wherein the distance from the (i + 1) th reflection point to the laser radar is included.
In one possible design, the third angle and the fourth angle are obtained according to a resolution parameter of the lidar.
In one possible design, the method further includes:
if not, the ith reflection point is kept in the point cloud data.
In a second aspect, the present invention provides a device for removing a cloud tailing, including: the device comprises a first acquisition unit, a calculation unit, a judgment unit and a data processing unit;
the first acquisition unit is used for acquiring point cloud data in any frame obtained by scanning of the laser radar, wherein the point cloud data comprises a plurality of reflection points arranged according to a scanning sequence;
the calculation unit is used for calculating a first included angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the laser radar, wherein i is an integer greater than 1;
the calculation unit is used for calculating a second included angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the laser radar;
the calculating unit is used for summing the first included angle and the second included angle to obtain a total included angle;
the calculating unit is also used for calculating the absolute value of the difference value between the total included angle and pi;
the judging unit is used for judging whether the absolute value of the difference value is greater than or equal to a preset threshold value or not;
and the data processing unit is used for deleting the ith reflection point when the judgment unit judges that the ith reflection point is positive, and obtaining the point cloud data with the trailing point removed when i is circulated from 2 to n-1, wherein n is the total number of the reflection points in the point cloud data.
In a third aspect, the present invention provides an electronic device, including a memory, a processor and a transceiver, which are sequentially connected in communication, wherein the memory is used for storing a computer program, the transceiver is used for sending and receiving messages, and the processor is used for reading the computer program and executing the method for removing the cloud tailing as may be designed in any one of the first aspect or the first aspect.
In a fourth aspect, the present invention provides a readable storage medium having stored thereon instructions which, when executed on a computer, perform the method for removing the cloud smear as described in the first aspect or any one of the possible designs in the first aspect.
In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a method of removing smear from a point cloud as the first aspect or any one of the possible designs of the first aspect.
Drawings
FIG. 1 is a schematic flow chart illustrating steps of a method for removing a cloud tailing according to the present invention;
FIG. 2 is a schematic diagram of a laser radar point cloud collection without tailing according to the present invention;
FIG. 3 is a schematic diagram of a laser radar point cloud collection with tailing according to the present invention;
FIG. 4 is a schematic structural diagram of a device for removing a cloud tailing according to the present invention;
FIG. 5 is a schematic structural diagram of a device for removing the tail of the point cloud located outside the lidar according to the present invention;
FIG. 6 is a schematic structural diagram of a device for removing the tail of the point cloud located in the laser radar according to the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
Examples
According to the method for removing the point cloud tailing provided by the first aspect of the embodiment, whether each reflection point in the point cloud data is a tailing point is judged according to the root cause of the tailing phenomenon, and an outlier detection algorithm is not required to be used for searching the outlier in the point cloud data, so that the problems that the statistical characteristics of the point cloud existing in the outlier detection algorithm are difficult to predict, missing detection and false detection are easy to occur, and data distortion is caused can be solved, and the tailing removal effect is improved.
The method for removing the tail of the point cloud provided in the first aspect of this embodiment may include, but is not limited to, the following steps S1 to S7.
S1, point cloud data in any frame obtained by scanning of a laser radar is obtained, wherein the point cloud data comprises a plurality of reflection points arranged according to a scanning sequence.
Step S1, point cloud data obtained by scanning of the laser radar is obtained, so that trailing removal processing is carried out on the point cloud data in the following process; in this embodiment, for example, the trailing point is removed according to a frame-by-frame processing principle, that is, for the point cloud data of each frame, the following steps shown in S2 to S7 are adopted.
After the point cloud data of any frame is obtained, the following steps S2 to S7 may be performed to determine whether all the reflection points except the first reflection point and the last reflection point in the point cloud data are trailing points.
Before describing steps S2-S7, the determination principle of the present invention is described:
in the present embodiment, in a local area, adjacent points detected by the laser radar may be considered to be located in one plane; therefore, the detection of the laser radar can be equivalent to a position relation graph of the laser emitted by the laser radar and the object, namely, see fig. 1 and fig. 2.
In fig. 1 and fig. 2, the point O is a position where the laser radar is located, and P0, P1, and P2 are reflection points where laser light emitted by the laser radar strikes on an object during scanning, that is, P0 is a current reflection point, P1 is a previous reflection point of the current reflection point, and P2 is a next reflection point of the current reflection point.
Referring to fig. 1, if all the laser beams emitted by the laser radar strike the same object and no tailing phenomenon occurs, P0, P1 and P2 can be considered to be on the same straight line, but since the surface of the object is not an absolute plane, the sum of the included angles formed by P0, P1 and P2 and the point O is considered to be equal to about 180 degrees, that is, in fig. 1, the angle P1P0O + P2P0O is equal to about pi.
Referring to fig. 2, if the trailing phenomenon occurs, that is, the laser is applied to the next object, the P0, the P1 and the point O are not on the same straight line, so that the sum of the included angles formed by the points P0, P1, P2 and the point O is considered to be greater than 180 degrees, that is, < P1P0O + < P2P0O > pi.
Meanwhile, in the field of laser radar scanning, tailing is an optical phenomenon in laser radar measurement, and generally the sum of P1P0O and the sum of P2P0O and the sum of the sum and the difference of pi is generally more than 5 degrees; therefore, the sum of the included angle between the previous reflection point and the next reflection point of each reflection point and the laser radar can be calculated according to the root cause of the tailing phenomenon, and whether the reflection point is the tailing point or not is judged by comparing whether the absolute value of the difference value between the sum of the included angles and pi is larger than 5 or not; that is, whether the reflection point is a smear point is determined by determining whether the absolute value of the difference between the sum of the angle α and the angle β in fig. 1 and 2 and pi is greater than 5.
On the other hand, the following steps S2 to S7 are based on the above principle:
s2, calculating a first included angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the laser radar, wherein i is an integer larger than 1.
And S3, calculating a second included angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the laser radar.
The steps S2 and S3 are to calculate the angle α and the angle β in fig. 1 and 2, and the calculation principle is based on a trigonometric function, but the following steps S201 to S203 can be adopted.
S301, obtaining the distance from the ith reflection point to the laser radar and the distance from the (i-1) th reflection point to the laser radar.
S302, obtaining a connecting line between the laser radar and the ith reflection point, and recording an included angle formed by the connecting line between the laser radar and the ith-1 reflection point as a third included angle.
And S303, obtaining the first included angle according to the distance from the ith reflection point to the laser radar, the distance from the (i-1) th reflection point to the laser radar and the third included angle.
Referring to FIG. 1, r in FIG. 10Is the distance from the ith reflection point to the lidar, r1Is the distance between the ith-1 reflection point and the laser radar, and theta is the angle formed by the connecting line between the laser radar and the ith reflection point and the connecting line between the laser radar and the ith-1 reflection point, i.e. r0And r1Angle therebetween, according to threeThe angle function can obtain a calculation formula of α, which is as follows:
similarly, the calculation of the angle β can be derived by, but is not limited to, the following steps S301 to S303:
s301, obtaining the distance from the (i + 1) th reflection point to the laser radar.
S302, obtaining a connecting line between the laser radar and the (i + 1) th reflection point, and recording an included angle formed by the connecting line between the laser radar and the ith reflection point as a fourth included angle.
And S303, obtaining the second included angle according to the distance from the ith reflection point to the laser radar, the distance from the (i + 1) th reflection point to the laser radar and the fourth included angle.
Similarly, with reference to fig. 1, when the angle β is calculated, the lengths of the line segment OP2 and the line segment OP0, and ≈ P20P0 need to be obtained; therefore, by using the triangle P2OP0, the calculation formula of the angle β can be obtained as follows:
in the above formula, β represents a second angle r2And gamma is the fourth included angle, wherein the distance from the (i + 1) th reflection point to the laser radar is included.
Therefore, the first included angle and the second included angle can be obtained through the two calculation formulas, the absolute value of the difference value between the sum of the first included angle and the second included angle and the pi is obtained, and whether the ith reflection point is a trailing point or not is judged through the size relation between the absolute value of the difference value and a preset threshold value.
In this embodiment, the third included angle and the third included angle are obtained according to a resolution parameter of the laser radar, for example; that is, the third angle and the fourth angle represent the resolution parameter of the laser radar and are the equipment parameters of the laser radar; whiler0、r1And r2It can be detected by lidar.
After the first angle and the second angle are obtained, steps S4 to S7 are performed, and the determination of the tail point is performed according to the comparison result.
And S4, summing the first included angle and the second included angle to obtain a total included angle.
And S5, calculating the absolute value of the difference value between the total included angle and pi.
And S6, judging whether the absolute value of the difference value is greater than or equal to a preset threshold value.
And S7, if so, deleting the ith reflection point, and when i is circulated from 2 to n-1, obtaining the point cloud data with the trailing points removed, wherein n is the total number of the reflection points in the point cloud data.
In the present embodiment, the steps S4 to S7 can be summarized as the following formula:
if it is
The ith reflection point is indicated to be a trailing point and needs to be deleted;
if it is
It indicates that the ith reflection point is not a trailing point and the ith reflection point needs to be retained in the point cloud data.
Therefore, all the trailing points in the point cloud data can be removed only by starting to calculate from the 2 nd reflection point to the (n-1) th reflection point according to the steps of S2-S7, and the point cloud data with the trailing points removed is obtained.
Therefore, through the detailed description of the point cloud tailing removing method in the steps S1-S7, the method provided by the invention is based on the root cause of the tailing phenomenon in the point cloud, so as to judge whether the reflection point is the tailing point; firstly, calculating an included angle formed between a connecting line between each reflection point and the previous reflection point of the reflection point and a connecting line between the reflection point and a laser radar, and an included angle formed between a connecting line between the reflection point and the next reflection point of the reflection point and a connecting line between the reflection point and the laser radar, then calculating the sum of the two and the absolute value of the difference value of pi, and finally judging whether the reflection point is a trailing point by comparing the absolute value of the difference value with the size relation of a preset threshold value; therefore, the problems that the statistical characteristics of the point cloud existing in the outlier detection algorithm are difficult to predict, missing detection and false detection are easy to occur, and data distortion is caused can be solved, so that the tailing removal effect is improved.
As shown in fig. 4, a second aspect of the present embodiment provides a hardware apparatus for implementing the method for removing a cloud tailing described in the first aspect of the embodiment, including: the device comprises a first acquisition unit, a calculation unit, a judgment unit and a data processing unit.
The first acquisition unit is used for acquiring point cloud data in any frame obtained by scanning of the laser radar, wherein the point cloud data comprises a plurality of reflection points arranged according to a scanning sequence.
And the calculation unit is used for calculating a first included angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the laser radar, wherein i is an integer greater than 1.
And the calculation unit is used for calculating a second included angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the laser radar.
And the calculating unit is used for summing the first included angle and the second included angle to obtain a total included angle.
And the calculating unit is also used for calculating the absolute value of the difference value between the total included angle and pi.
And the judging unit is used for judging whether the absolute value of the difference value is greater than or equal to a preset threshold value.
And the data processing unit is used for deleting the ith reflection point when the judgment unit judges that the ith reflection point is positive, and obtaining the point cloud data with the trailing point removed when i is circulated from 2 to n-1, wherein n is the total number of the reflection points in the point cloud data.
In this embodiment, the removing device for point cloud tailing may be placed in the laser radar, or may be placed outside the laser radar, which is not limited herein.
For example, the following provides a hardware arrangement for point cloud smear removal located outside of the lidar, which may include, but is not limited to: the system comprises a data pump, a control system and a tailing removal module, wherein the tailing removal module can comprise, but is not limited to, the first acquisition unit, the calculation unit, the judgment unit and the data processing unit.
Referring to fig. 5, the data pump provides data communication and cache functions, receives point cloud data generated by the laser radar, caches the point cloud data, and provides the point cloud data to the control system for processing.
The control system extracts data from the data pump, performs general data processing (such as denoising and the like), and sends the processed data to the tailing removal module for processing.
And the tailing removal module performs tailing removal processing on the data transmitted by the control system by using the method provided by the first aspect to obtain the point cloud data with the tailing points removed.
Similarly, referring to fig. 6, the following provides a hardware arrangement for point cloud smear removal within a lidar that may include, but is not limited to: the system comprises a data acquisition module, a data preprocessing module and a tailing removal module, wherein the tailing removal module can include but is not limited to the first acquisition unit, the calculation unit, the judgment unit and the data processing unit.
The data acquisition module acquires data from a sensor of the laser radar and sends the data to the data preprocessing module.
The data preprocessing module processes data collected by the sensor, including but not limited to: noise processing, point merging, etc.
And the tailing removal module performs tailing removal processing on the data transmitted by the data preprocessing module by using the method provided by the first aspect to obtain the point cloud data with the tailing points removed.
For the working process, the working details, and the technical effects of the hardware apparatus provided in this embodiment, reference may be made to the first aspect of the embodiment, which is not described herein again.
As shown in fig. 7, a third aspect of the present embodiment provides an electronic device, including: the device comprises a memory, a processor and a transceiver which are sequentially connected in communication, wherein the memory is used for storing a computer program, the transceiver is used for transceiving a message, and the processor is used for reading the computer program and executing the method for removing the cloud tailing according to the first aspect of the embodiment.
For example, the Memory may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Flash Memory (Flash Memory), a First In First Out (FIFO), and/or a First In Last Out (FILO), and the like; the processor may not be limited to a microprocessor of a model number STM32F105 series, a reduced instruction set computer (RSIC) microprocessor, an architecture processor such as X86, or a processor integrated with a neural-Network Processing Unit (NPU); the transceiver may be, but is not limited to, a wireless fidelity (WIFI) wireless transceiver, a bluetooth wireless transceiver, a General Packet Radio Service (GPRS) wireless transceiver, a ZigBee wireless transceiver (ieee802.15.4 standard-based low power local area network protocol), a 3G transceiver, a 4G transceiver, and/or a 5G transceiver, etc. In addition, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.
For the working process, the working details, and the technical effects of the computer main device provided in this embodiment, reference may be made to the first aspect of the embodiment, which is not described herein again.
A fourth aspect of the present embodiment provides a readable storage medium storing instructions including the method for retrieving a traditional Chinese medicine according to the first aspect of the present embodiment, that is, the readable storage medium stores instructions that, when executed on a computer, perform the method for removing a point cloud tailing according to the first aspect.
The readable storage medium refers to a carrier for storing data, and may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash Memory, a flash disk and/or a Memory Stick (Memory Stick), etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
For the working process, the working details, and the technical effects of the readable storage medium provided in this embodiment, reference may be made to the first aspect of the embodiment, which is not described herein again.
A fifth aspect of the present embodiment provides a computer program product comprising instructions which, when run on a computer, wherein the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device, cause the computer to perform the method for removing a cloud tailing according to the first aspect of the present embodiment.
Finally, it should be noted that: the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for removing a point cloud tailing is characterized by comprising the following steps:
acquiring point cloud data in any frame obtained by scanning of a laser radar, wherein the point cloud data comprises a plurality of reflection points arranged according to a scanning sequence;
calculating a first included angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the laser radar, wherein i is an integer greater than 1;
calculating a second included angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the laser radar;
summing the first included angle and the second included angle to obtain a total included angle;
calculating the absolute value of the difference value between the total included angle and pi;
judging whether the absolute value of the difference value is greater than or equal to a preset threshold value or not;
and if so, deleting the ith reflection point, and when i is circulated from 2 to n-1, obtaining the point cloud data from which the trailing points are removed, wherein n is the total number of the reflection points in the point cloud data.
2. The method of claim 1, wherein calculating a first angle between a line connecting the ith reflection point and the (i-1) th reflection point and a line connecting the ith reflection point and the lidar comprises:
acquiring the distance from the ith reflection point to the laser radar and the distance from the (i-1) th reflection point to the laser radar;
acquiring a connecting line between the laser radar and the ith reflection point, and recording an included angle formed by the connecting line between the laser radar and the ith-1 reflection point as a third included angle;
and obtaining the first included angle according to the distance from the ith reflection point to the laser radar, the distance from the ith-1 reflection point to the laser radar and the third included angle.
3. The method of claim 2, wherein obtaining the first angle according to the distance from the ith reflection point to the lidar, the distance from the i-1 th reflection point to the lidar, and the third angle comprises:
calculating to obtain the first included angle according to the following formula;
in the above formula, α represents a first angle, r1Is the distance, r, from the i-1 st reflection point to the lidar0And theta is the distance from the ith reflection point to the laser radar, and theta is the third included angle.
4. The method of claim 2, wherein calculating a second angle between a line connecting the ith reflection point and the (i + 1) th reflection point and a line connecting the ith reflection point and the lidar comprises:
obtaining the distance from the (i + 1) th reflection point to the laser radar;
acquiring a connecting line between the laser radar and the (i + 1) th reflection point, and recording an included angle formed by the connecting line between the laser radar and the ith reflection point as a fourth included angle;
and obtaining the second included angle according to the distance from the ith reflection point to the laser radar, the distance from the (i + 1) th reflection point to the laser radar and the fourth included angle.
5. The method of claim 4, wherein obtaining the second angle according to the distance from the ith reflection point to the lidar, the distance from the (i + 1) th reflection point to the lidar, and the fourth angle comprises:
calculating to obtain the second included angle according to the following formula;
in the above formula, β represents a second angle r2And gamma is the fourth included angle, wherein the distance from the (i + 1) th reflection point to the laser radar is included.
6. The method of claim 4, wherein the third angle and the fourth angle are derived from a resolution parameter of the lidar.
7. The method of claim 1, wherein the method further comprises:
if not, the ith reflection point is kept in the point cloud data.
8. A point cloud tailing removing device is characterized by comprising: the device comprises a first acquisition unit, a calculation unit, a judgment unit and a data processing unit;
the first acquisition unit is used for acquiring point cloud data in any frame obtained by scanning of the laser radar, wherein the point cloud data comprises a plurality of reflection points arranged according to a scanning sequence;
the calculation unit is used for calculating a first included angle formed by a connecting line between the ith reflection point and the (i-1) th reflection point and a connecting line between the ith reflection point and the laser radar, wherein i is an integer greater than 1;
the calculation unit is used for calculating a second included angle formed by a connecting line between the ith reflection point and the (i + 1) th reflection point and a connecting line between the ith reflection point and the laser radar;
the calculating unit is used for summing the first included angle and the second included angle to obtain a total included angle;
the calculating unit is also used for calculating the absolute value of the difference value between the total included angle and pi;
the judging unit is used for judging whether the absolute value of the difference value is greater than or equal to a preset threshold value or not;
and the data processing unit is used for deleting the ith reflection point when the judgment unit judges that the ith reflection point is positive, and obtaining the point cloud data with the trailing point removed when i is circulated from 2 to n-1, wherein n is the total number of the reflection points in the point cloud data.
9. An electronic device, comprising: the device comprises a memory, a processor and a transceiver which are sequentially connected in a communication manner, wherein the memory is used for storing a computer program, the transceiver is used for transmitting and receiving messages, and the processor is used for reading the computer program and executing the method for removing the point cloud tailing according to any one of claims 1 to 7.
10. A readable storage medium having stored thereon instructions for performing the method of removing a cloud smear according to any one of claims 1 to 7 when the instructions are executed on a computer.
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