CN115407281A - Point cloud denoising method and device, detection radar and storage medium - Google Patents

Point cloud denoising method and device, detection radar and storage medium Download PDF

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CN115407281A
CN115407281A CN202110606311.2A CN202110606311A CN115407281A CN 115407281 A CN115407281 A CN 115407281A CN 202110606311 A CN202110606311 A CN 202110606311A CN 115407281 A CN115407281 A CN 115407281A
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point cloud
point
processed
correction value
rising edge
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刘登科
李娟娟
胡孟孟
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Wuhan Wanji Photoelectric Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The application relates to a point cloud denoising method, a point cloud denoising device, a detection radar and a storage medium. The method comprises the following steps: acquiring a point cloud set to be processed from an original point cloud set; correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value according to the pulse width of the electromagnetic signal; correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring a rising edge time correction value according to the rising edge time difference of the electromagnetic signal; calculating a difference between the pulse width time correction value and the rising edge time correction value; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point. The method can improve the detection accuracy and authenticity of the detection radar.

Description

Point cloud denoising method and device, detection radar and storage medium
Technical Field
The application relates to the technical field of electronic information, in particular to a point cloud denoising method and device, a detection radar and a storage medium.
Background
The point cloud is a collection of mass points which express the surface characteristics of the object in the same spatial reference system and can be obtained through a laser radar. The laser radar emits detection light to multiple directions, and the distance between an object in the current direction and the laser radar can be calculated according to the time difference between the emission of the detection light and the return of the detection light, so that the purpose of detecting the environment to a certain degree is achieved.
Under the condition that the edge of an object close to the laser radar shields a target far away from the laser radar, because the detection light emitted by the laser radar is a single-beam detection light which has a certain direction and a certain cross-sectional area, one part of the single-beam detection light irradiates on the object close to the laser radar, and the other part irradiates on the object far away from the laser radar, the single-beam detection light is caused to obtain a distance value which is not the distance value of the object close to the laser radar or the distance value of the object far away from the laser radar but is a distance value between the two. In fact, there is no object between the two objects, and there is an abnormal point cloud representing the distance value, which is the dragging point.
The dragging point can obviously influence the judgment of the laser radar on the front environment, so that the empty area between two objects is the same as an inclined plane, and the detection accuracy and authenticity of the laser radar are influenced.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for denoising a point cloud, a detection radar, and a storage medium.
A point cloud denoising method comprises the following steps:
acquiring a point cloud set to be processed from an original point cloud set;
correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal;
correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
In one embodiment, obtaining a point cloud set to be processed from an original point cloud set comprises:
clustering point cloud points according to the distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set;
clustering point cloud points according to angles among the point cloud points in the original point cloud set to obtain at least one second point cloud set;
performing merging operation on at least one first point cloud set and at least one second point cloud set to obtain an initial point cloud set;
and removing the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed.
In one embodiment, clustering point cloud points according to distances between point cloud points in an original point cloud set to obtain at least one first point cloud set, includes:
calculating and obtaining the distance between the cloud points of the points adjacent in sequence;
acquiring point cloud points with the distance smaller than a distance threshold value to form at least one first original point cloud set;
and counting the number of point cloud points in at least one first original point cloud set, and acquiring the first original point cloud set with the number larger than a first number threshold value as a first point cloud set.
In one embodiment, clustering point cloud points according to angles between point cloud points in an original point cloud set to obtain at least one second point cloud set, including:
calculating and obtaining an included angle between straight lines formed by the cloud points of the points adjacent in sequence;
acquiring point cloud points with included angles smaller than an included angle threshold value to form at least one second original point cloud set;
and counting the number of the point cloud points in the second original point cloud set, and acquiring the second original point cloud set with the number larger than a second number threshold value as a second point cloud set.
In one embodiment, obtaining a pulse width time correction value of each cloud point to be processed according to a pulse width of an electromagnetic signal includes:
determining a pulse width time correction value corresponding to the pulse width of the electromagnetic signal according to the pulse width of the electromagnetic signal and a preset corresponding relation, and obtaining the pulse width time correction value of each cloud point to be processed;
according to the rising edge time difference of the electromagnetic signals, the rising edge time correction value of each cloud point to be processed is obtained, and the method comprises the following steps:
determining a rising edge time correction value corresponding to the rising edge time difference of the electromagnetic signal according to the rising edge time difference of the electromagnetic signal and a preset corresponding relation, and obtaining the rising edge time correction value of each cloud point to be processed; the preset corresponding relation comprises a corresponding relation between a target parameter and a time correction value, and the target parameter comprises a pulse width and a rising edge time difference.
In one embodiment, the method further includes:
and sequentially transmitting and receiving at least two test electromagnetic signals according to the descending order of the signal intensity, and generating a preset corresponding relation according to the at least two test electromagnetic signals.
In one embodiment, generating the preset correspondence according to at least two test electromagnetic signals includes:
acquiring a target parameter of each of at least two test electromagnetic signals;
acquiring a time difference between the moment when the signal intensity of the test electromagnetic signal reaches the first intensity for the first time and the moment when the signal intensity of the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time, and taking the time difference as a time correction value corresponding to the test electromagnetic signal;
and associating the target parameters of the test electromagnetic signals with the corresponding time correction values to obtain a preset corresponding relation.
A point cloud denoising apparatus, comprising:
the first acquisition module is used for acquiring a point cloud set to be processed from an original point cloud set;
the second acquisition module is used for correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal;
the third acquisition module is used for correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to the point cloud point to be processed for each cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
the point cloud denoising module is used for calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
A detection radar comprising a signal transmitter, a signal receiver, and a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
acquiring a point cloud set to be processed from an original point cloud set;
correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal;
correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a point cloud set to be processed from an original point cloud set;
correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal;
correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
According to the point cloud denoising method, the point cloud denoising device, the detection radar and the storage medium, the point cloud set to be processed is obtained from the original point cloud set, the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed is correspondingly obtained for each point cloud point to be processed in the point cloud set to be processed, and the pulse width time correction value of each point cloud point to be processed is obtained according to the pulse width of the electromagnetic signal; correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; thereby calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and under the condition that the difference value between the pulse width time correction value and the rising edge time correction value of a cloud point of a certain point to be processed is larger than a preset threshold value, removing the cloud point of the certain point to be processed from the original point cloud set as an abnormal point. The method is characterized in that the method utilizes an electromagnetic signal corresponding to the same point cloud point, and determines that a pulse width time correction value determined by a pulse width and a rising edge time correction value determined by a rising edge time difference should be equal or meet a certain error range, and whether the same point cloud point to be processed is a dragging point or not is judged, so that the dragging point is removed, the point cloud point denoising is realized, and the detection accuracy and the authenticity of a detection radar are improved.
Drawings
FIG. 1 is a diagram of an application environment of a point cloud denoising method in an embodiment;
FIG. 2 is a schematic flow chart of a point cloud denoising method in an embodiment;
FIG. 3 is a schematic diagram of a waveform of an electromagnetic signal in one embodiment;
FIG. 4 is a schematic waveform diagram of an electromagnetic signal in another embodiment;
FIG. 5 is a schematic flow chart of obtaining a point cloud set to be processed according to an embodiment;
FIG. 6 is a schematic flow diagram illustrating obtaining a first set of point clouds, according to an embodiment;
FIG. 7 is a schematic flow chart of obtaining a second point cloud set according to one embodiment;
FIG. 8 is a schematic diagram illustrating a distribution of point cloud points on an object in one embodiment;
FIG. 9 is a schematic flow chart illustrating obtaining a predetermined correspondence in one embodiment;
FIG. 10 is a graph illustrating the correlation between the time difference of the rising edge and the time correction value according to an embodiment;
FIG. 11 is a block diagram of a point cloud denoising apparatus in one embodiment;
fig. 12 is an internal structural view of a detection radar in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The point cloud denoising method provided by the application can be applied to the application environment shown in fig. 1. The detection radar 100 emits an electromagnetic signal, a part of the electromagnetic signal irradiates on an object a which is closer to the detection radar 100, another part irradiates on an object B which is farther from the detection radar 100, and a distance detected by the detection signal is neither a distance value between the detection radar 100 and the object a nor a distance value between the detection radar 100 and the object B, but is a distance value between the detection radar 100 and a point between the object a and the object B, namely a dragging point, while no association or other objects exist between the object a and the object B. The point cloud denoising method provided by the application can be realized directly through the detection radar 100, and also can be realized through a terminal communicated with the detection radar 100, and the terminal can be but is not limited to various personal computers, notebook computers, smart phones, tablet computers and portable wearable equipment.
In an embodiment, as shown in fig. 2, in the embodiment, a point cloud denoising method is provided, which is described by taking the method as an example of being applied to the detection radar in fig. 1, and includes the following steps:
s210, acquiring a point cloud set to be processed from the original point cloud set.
Optionally, the detection radar may be a laser radar, a millimeter wave radar, a microwave radar, or the like, which is used for implementing ranging, and the type of the detection radar is not specifically limited in this embodiment.
Optionally, the detection radar may send out a multi-thread electromagnetic signal or periodically rotate to send out an electromagnetic signal, and form a large number of point cloud points on the object, and accordingly obtain the coordinate position of each point cloud point, and further obtain an original point cloud set including the coordinate positions of the large number of point cloud points, and filter the point cloud points in the original point cloud set to obtain a point cloud set to be processed.
Optionally, the detection radar may filter the point cloud points in the original point cloud set according to a distance between each point cloud point in the original point cloud set and the detection radar, so as to obtain a point cloud set to be processed. For example, the cloud points of the points farthest and smallest from the detection radar in the original point cloud set are removed. The detection radar can also adopt a clustering algorithm to cluster point cloud points in the original point cloud set to obtain a clustering result, and the clustering result with the point cloud points of which the number is small by a preset number is removed from the original point cloud set to obtain a point cloud set to be processed. In this embodiment, a specific manner of obtaining the point cloud set to be processed from the original point cloud set is not limited.
S220, correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed aiming at each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal.
In the scanning detection process of the detection radar, each emitted single-beam electromagnetic signal is correspondingly formed into a cloud point when being applied to an object, the cloud point is received by the detection radar after being reflected by the object to perform photoelectric conversion, the photoelectric conversion is to convert the received electromagnetic signal into an electric signal, and the signal intensity is represented by adopting a voltage value. As shown in fig. 3, each received electromagnetic signal includes a pulse rising edge and a pulse falling edge, where a curve a is an intensity waveform diagram of an electromagnetic signal received by the detection radar and forming a cloud point in an ideal case, and there is no loss in signal intensity of a returned electromagnetic signal in an ideal case, and the curve a is in a steady state. Curves b and c are intensity oscillograms of electromagnetic signals which form point cloud points and are received by the detection radar under the actual condition, and curves b and c are in a state that the curves are increased firstly and then reduced due to loss caused by self noise of the detection radar under the actual condition. Wherein, the stronger the signal intensity of the transmitted electromagnetic signal, the closer the corresponding intensity oscillogram is to the curve a.
The pulse width for acquiring the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed is the time length for acquiring the electromagnetic signal reaching the first intensity P1 by the detection radar, namely the pulse width. The time difference between the time when the signal intensity of the electromagnetic signal in the ideal case first reaches the first intensity P1 and the time when the signal intensity of the electromagnetic signal in the actual case first reaches the first intensity P1 is a time correction value.
Optionally, the detection radar obtains a time correction value, i.e., a pulse width time correction value, corresponding to the calculated pulse width of the electromagnetic signal, by using a correspondence between the pulse width and the time correction value.
And S230, correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to the point cloud point to be processed aiming at each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal.
The rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed reaches the second intensity for the first time and the moment when the signal intensity reaches the third intensity for the first time, and the third intensity is larger than the second intensity.
Referring to fig. 3, the time difference between the time when the signal intensity first reaches the second intensity P2 and the time when the signal intensity first reaches the third intensity P3 is the rising edge time difference. Wherein the third intensity P3 may be equal to the first intensity P1.
Optionally, the detection radar obtains the time correction value corresponding to the calculated rising edge time difference of the electromagnetic signal, that is, the rising edge time correction value, by using the correspondence between the rising edge time difference and the time correction value.
S240, calculating a difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
As shown in fig. 4, a curve o represents an electromagnetic signal with a larger signal intensity to form a waveform diagram, and in combination with fig. 1, the curve o may be a waveform diagram of an electromagnetic signal corresponding to a cloud point on an object a closer to the detection radar, a curve p represents a waveform diagram of an electromagnetic signal with a smaller signal intensity, and may be a waveform diagram of an electromagnetic signal corresponding to a cloud point on an object B farther from the detection radar, and a curve q represents a waveform diagram of an electromagnetic signal corresponding to a dragging point between the object a and the object B. Wherein the curve q is formed by the superposition of the waveforms of the earlier returned part of the electromagnetic signal (i.e. the early wave) impinging on the object a and the later returned part of the electromagnetic signal (i.e. the late wave) impinging on the object B. The superposition of the front and the back double waves can cause that the late wave obviously affects the second half part of the early wave, but the influence on the first half part is very light, so that the correct time correction value cannot be determined only by the corresponding relation between the pulse width and the time correction value. However, there is no signal intensity waveform diagram of the superposition of the front and back double waves, that is, the waveform diagram of the electromagnetic signal corresponding to the normal point cloud point, and the time correction value corresponding to the pulse width and the time difference of the rising edge should be equal or satisfy a certain error range. The method and the device utilize the characteristic to determine whether the cloud point of the point to be processed is an abnormal point, namely a dragging point.
Specifically, the detection radar calculates a difference value between a pulse width time correction value and a rising edge time correction value of each cloud point to be processed, compares the difference value with a preset threshold value, and determines whether the cloud point to be processed is an abnormal point, namely a dragging point, according to a comparison result. If yes, removing the cloud point of the point to be processed from the original point cloud set by the detection radar; if not, the detection radar reserves the cloud point at a certain point. If the difference value between the pulse width time correction value and the rising edge time correction value of a cloud point of a certain point to be processed is larger than a preset threshold value, the detection radar determines that the cloud point of the certain point to be processed is the abnormal point; and if the difference value between the pulse width time correction value and the rising edge time correction value of a cloud point of a certain point to be processed is not larger than a preset threshold value, the detection radar determines that the cloud point of the certain point to be processed is not the abnormal point.
In the embodiment, the detection Lei Datong acquires a point cloud set to be processed from an original point cloud set, correspondingly acquires the pulse width of an electromagnetic signal reaching a first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquires the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal; correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; thereby calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and under the condition that the difference value between the pulse width time correction value and the rising edge time correction value of a cloud point of a certain point to be processed is larger than a preset threshold value, removing the cloud point of the certain point to be processed from the original point cloud set as an abnormal point. The method is characterized in that by utilizing an electromagnetic signal corresponding to the same point cloud point, whether a pulse width time correction value determined by a pulse width and a rising edge time correction value determined by a rising edge time difference are equal or meet a certain error range is determined, and the same cloud point to be processed is a dragging point, so that the dragging point is removed, point cloud denoising is realized, and the detection accuracy and authenticity of a detection radar are improved.
In one embodiment, to reduce the data processing amount of point cloud denoising, as shown in fig. 5, the step S210 includes:
s510, clustering the point cloud points according to the distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set.
In an actual application scenario, distances between point cloud points formed on the same object are relatively close, and optionally, the detection radar may cluster the point cloud points according to an euclidean distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set. For example, the detection radar adopts a k-means clustering algorithm to cluster point cloud points in an original point cloud set, namely, firstly, randomly determining k point cloud points in the point cloud points as clustering center points, comparing Euclidean distances between the point cloud points and each clustering center point, classifying the point cloud points and the clustering center closest to the corresponding Euclidean distance into one class, then recalculating clustering class center points according to the point cloud points of the classified class, and continuously classifying and determining the center points until the center points are not changed any more so as to obtain a final clustering result, namely obtaining at least one first point cloud set. The same first point cloud set comprises point cloud points formed on the same object.
S520, clustering the point cloud points according to angles among the point cloud points in the original point cloud set to obtain at least one second point cloud set.
In an actual application scenario, an included angle between point cloud points formed on the same object and the position of the detection radar is also relatively close, and optionally, an angle between point cloud points in the original point cloud set may be an included angle between point cloud points and the position of the detection radar. The detection radar can cluster the point cloud points according to included angles between the point cloud points in the original point cloud set relative to the position of the detection radar to obtain at least one second point cloud set. For example, the detection radar obtains an included angle between every two point cloud points in the point cloud point set and the position of the detection radar, and classifies the point cloud points with the included angle smaller than a preset angle into a class to obtain a final clustering result, so as to obtain at least one second point cloud set. The same second point cloud set comprises point cloud points formed on the same object.
S530, performing a merging operation on the at least one first point cloud set and the at least one second point cloud set to obtain an initial point cloud set.
And S540, removing the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed.
Optionally, the detection radar performs a merging operation on the at least one first point cloud set and the at least one second point cloud set obtained by clustering to obtain an initial point cloud set including normal point cloud points. For example, the original point cloud set comprises point cloud points 1-1000, clustering is carried out according to distance to obtain 3 first point cloud sets A1-A3, namely, A1{ point cloud points 1-400 }, A2{ point cloud points 470-800 }, and A3{ point cloud points 850-1000 }, clustering is carried out according to angles to obtain 3 second point cloud sets B1-B3, namely, B1{ point cloud points 1-405 }, B2{ point cloud points 472-792 }, and B3{ point cloud points 851-1000 }, and the detection radar further carries out merging operation on the 3 first point cloud sets A1-A3 and the 3 second point cloud sets B1-B3 obtained through clustering to obtain an initial point cloud set C { point cloud points 1-405, point cloud points 470-800, and point cloud points 850-1000 }, wherein the initial point cloud sets C comprise the normal point cloud points. And the detection radar further removes the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed, and finally obtains a point cloud set D to be processed { point cloud points 406-469, point cloud points 801-849 } based on the above contents.
In an optional embodiment, to improve the accuracy of clustering according to the distance, as shown in fig. 6, the step S510 includes:
s610, calculating the distance between the cloud points adjacent to the acquisition sequence.
Specifically, the detection radar calculates the distance between the cloud points of the adjacent points according to the acquisition sequence of each cloud point in the original point cloud set. For example, the detection radar sequentially acquires point cloud points 1 to 1000 to form the original point cloud set, and further calculates the distance between the next point cloud point and the previous point cloud point which are adjacent in the acquisition sequence, that is, the distance L1 between the point cloud point 2 and the point cloud point 1, the distance L2 between the point cloud point 3 and the point cloud point 2, the distance L3 … between the point cloud point 4 and the point cloud point 3, until the distance L999 between the point cloud point 1000 and the point cloud point 999 is acquired.
S620, point cloud points with the distance smaller than the distance threshold are obtained, and at least one first original point cloud set is formed.
Specifically, the detection radar acquires a distance smaller than a distance threshold value from the calculated distances, and correspondingly acquires point cloud points of the distance to form at least one first original point cloud set. For example, in the obtained distances L1 to L999, the distances L1 to L399, the distances L400 to L419, the distances L420 to L709, and the distances L710 to L999 are all greater than the distance threshold L, and a first original point cloud set E1{ point cloud points 1 to 400}, a first original point cloud set E2{ point cloud points 401 to 420}, a first original point cloud set E3 point cloud points 420 to 710}, and a first original point cloud set E4{ point cloud points 711 to 1000} are correspondingly determined.
S630, counting the number of point cloud points in at least one first original point cloud set, and acquiring the first original point cloud set of which the number is greater than a first number threshold value as a first point cloud set.
Specifically, the detection radar counts the number of point cloud points in each first original point cloud set, and obtains the first original point cloud sets with the number larger than a first number threshold value as the first point cloud sets. For example, the number of point cloud points in the first original point cloud set E1{ point cloud points 1 to 400} is 400, the number of point cloud points in the first original point cloud set E2{ point cloud points 401 to 420} is 20, the number of point cloud points in the first original point cloud set E3{ point cloud points 421 to 710} is 290, the number of point cloud points in the first original point cloud set E4{ point cloud points 711 to 1000} is 290, and a first number threshold E =100, and the detection radar determines that the first original point cloud sets E1, E3, and E4 are the first point cloud sets, respectively. The detection radar determines that the first original point cloud set with the smaller number of point cloud points may include outliers, i.e., the first original point cloud set E2{ point cloud points 401 to 420} may include outliers.
In an optional embodiment, to improve the accuracy of clustering according to angles, as shown in fig. 7, the step S520 includes:
710. and calculating an included angle between straight lines formed by the cloud points of the adjacent points in the acquisition sequence.
Specifically, the detection radar calculates an included angle between straight lines formed between cloud points of points adjacent to each other in the acquisition sequence according to the acquisition sequence of the cloud points of each point in the original point cloud set. As shown in FIG. 8, P i-1 ，P i ，P i+1 And P i+2 Sequentially acquiring 4 point cloud points in the original point cloud set, and acquiring a point cloud point P by a detection radar i-1 And point cloud point P i The straight line S1 and the cloud point P i And point cloud point P i+1 Angle theta between straight lines S2 formed i . The detection radar sequentially obtains point cloud points 1-1000 to form the original point cloud set, and an included angle theta is correspondingly obtained 2 ～θ 999 。
720. And acquiring point cloud points with included angles smaller than an included angle threshold value to form at least one second original point cloud set.
Specifically, the detection radar acquires an included angle smaller than an included angle threshold value from the calculated included angles, the included angle smaller than the included angle threshold value represents that point cloud points forming the included angle are collinear, namely, are located on the same plane (namely, the same object), and the point cloud points of the included angle are correspondingly acquired to form at least one second original point cloud set. For example, the detection radar is based on the angle θ 2 ～θ 999 Correspondingly, a second original point cloud set F1{ point cloud points 1-185 }, a second original point cloud set F2{ point cloud points 185-385 }, a second original point cloud set F3{ point cloud points 386-426 }, a second original point cloud set F4{ point cloud points 426-723 }, and a second original point cloud set F5{ point cloud points 724-1000 }.
730. And counting the number of the point cloud points in the second original point cloud set, and acquiring the second original point cloud set with the number larger than a second number threshold value as a second point cloud set.
Specifically, the detection radar counts the number of point cloud points in each second original point cloud set, and obtains the second original point cloud sets with the number larger than a second number threshold value as second point cloud sets. For example, the number of point cloud points in the second original point cloud set F1{ point cloud points 1 to 185}, the number of point cloud points in the second original point cloud set F2{ point cloud points 185 to 385}, the number of point cloud points in the second original point cloud set F3{ point cloud points 386 to 426}, the number of point cloud points in the second original point cloud set F41, the number of point cloud points in the first original point cloud set F4{ point cloud points 426 to 723}, the number of point cloud points in the first original point cloud set F5 point cloud points 724 to 1000} is 277, the second number threshold F may be equal to the first number E, and the detection radar determines the first original point cloud sets F1, F2, E4, and E5 to be the second point cloud sets respectively. Similarly, the radar determines that the second original point cloud set with a smaller number of point cloud points may include outliers, i.e., the second original point cloud set F3{ point cloud points 386 to 426} may include outliers.
In this embodiment, the detection radar clusters point cloud points according to distances between the point cloud points in the original point cloud set to obtain at least one first point cloud set, clusters the point cloud points according to angles between the point cloud points in the original point cloud set to obtain at least one second point cloud set, performs a merging operation on the at least one first point cloud set and the at least one second point cloud set to obtain an initial point cloud set, and then removes the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed. The method for clustering by adopting the distance and the angle can accurately classify, and can accurately screen normal point cloud points on a real object from an original point cloud set by utilizing the characteristics of dense point cloud point distribution, small distance between the point cloud points and collinearity on the real object to obtain the initial point cloud set, and screen the initial point cloud set which comprises the normal points in the original point cloud set to obtain a point cloud set to be processed and needs to be further judged whether to be an abnormal point, so that the data processing amount of point cloud de-noising is reduced, and the de-noising efficiency is improved.
In one embodiment, to further simplify the denoising process, the above-mentioned step 220 includes:
and determining the pulse width time correction value corresponding to the pulse width of the electromagnetic signal according to the pulse width of the electromagnetic signal and a preset corresponding relation, and obtaining the pulse width time correction value of each cloud point to be processed.
Accordingly, the above S230 includes:
and determining a rising edge time correction value corresponding to the rising edge time difference of the electromagnetic signal according to the rising edge time difference of the electromagnetic signal and a preset corresponding relation, and obtaining the rising edge time correction value of each cloud point to be processed.
The preset corresponding relation comprises a corresponding relation between a target parameter and a time correction value, and the target parameter comprises a pulse width and a rising edge time difference.
Optionally, before the point cloud denoising method is performed, the detection radar transmits and receives electromagnetic signals with different signal strengths in advance, and obtains time correction values, pulse widths and rising edge time differences corresponding to the electromagnetic signals with different signal strengths, so as to construct a corresponding relationship among the time correction values, the pulse widths and the rising edge time differences of the electromagnetic signals with different signal strengths, and obtain the preset corresponding relationship.
In an optional embodiment, the detection radar sequentially transmits at least two test electromagnetic signals according to a decreasing signal strength sequence, and generates a preset corresponding relationship according to the at least two test electromagnetic signals.
As shown in fig. 9, generating the preset correspondence includes the following steps:
s910, acquiring a target parameter of each of the at least two test electromagnetic signals.
In particular, the detection radar may transmit at least two test electromagnetic signals to a flat surface and receive the test electromagnetic signals reflected from the flat surface. The loss in signal strength of the test electromagnetic signal during transmission and reflection is negligible. The detection radar acquires a pulse width and a rising edge time difference of each of the at least two received test electromagnetic signals.
And S920, acquiring a time difference between the moment when the signal intensity of the test electromagnetic signal reaches the first intensity for the first time and the moment when the signal intensity of the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time, and taking the time difference as a time correction value corresponding to the test electromagnetic signal.
And S930, associating the target parameters of the test electromagnetic signals with the corresponding time correction values to obtain a preset corresponding relation.
The electromagnetic signal strength of the test electromagnetic signal with the maximum preset strength is the electromagnetic signal with the maximum signal strength which can be sent by the detection radar, and the larger the signal strength of the electromagnetic signal is, the smaller the influence of the noise of the detection radar on the signal strength is, so that the waveform diagram corresponding to the electromagnetic signal with the maximum preset strength can be approximated to the curve a in fig. 3.
Specifically, the detection radar calculates a time difference between a time when each of the test electromagnetic signals reaches the first intensity for the first time and a time when the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time as a time correction value corresponding to the test electromagnetic signal, and associates the obtained pulse width and rising edge time difference of each of the test electromagnetic signals with the corresponding obtained time correction value, thereby obtaining the preset corresponding relationship. Fig. 10 is a corresponding relationship between the rising edge time difference obtained by plotting and the corresponding time correction value, and similarly, the corresponding relationship between the pulse width and the corresponding time correction value can also be obtained by falling, which together form the preset corresponding relationship.
In the embodiment, the detection radar determines the pulse width time correction value corresponding to the pulse width and determines the rising edge time correction value corresponding to the rising edge time difference by directly using the preset corresponding relation through a mode of pre-establishing the preset corresponding relation comprising the target parameter and the time correction value, so that the process of determining the corresponding time correction value according to different parameters is simplified, the denoising process is further simplified, and the denoising efficiency is improved.
It should be understood that although the various steps in the flowcharts of fig. 2-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps of the flowcharts of fig. 2-9 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the steps or stages of the other steps.
In one embodiment, as shown in fig. 11, there is provided a point cloud denoising apparatus, including: a first obtaining module 1101, a second obtaining module 1102, a third obtaining module 1103 and a point cloud denoising module 1104, wherein:
the first obtaining module 1101 is configured to obtain a point cloud set to be processed from an original point cloud set;
the second obtaining module 1102 is configured to correspondingly obtain, for each cloud point to be processed in the point cloud set to be processed, a pulse width at which the electromagnetic signal corresponding to the point cloud point to be processed reaches a first intensity, and obtain a pulse width time correction value of each cloud point to be processed according to the pulse width of the electromagnetic signal;
the third obtaining module 1103 is configured to correspondingly obtain a rising edge time difference of the electromagnetic signal corresponding to the point cloud point to be processed, for each cloud point to be processed in the point cloud set to be processed, and obtain a rising edge time correction value of each cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
the point cloud denoising module 1104 is used for calculating a difference value between a pulse width time correction value and a rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
In one embodiment, the first obtaining module 1101 is specifically configured to:
clustering point cloud points according to the distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set; clustering point cloud points according to angles among the point cloud points in the original point cloud set to obtain at least one second point cloud set; performing a merging operation on at least one first point cloud set and at least one second point cloud set to obtain an initial point cloud set; and removing the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed.
In one embodiment, the first obtaining module 1101 is specifically configured to:
calculating and obtaining the distance between the cloud points of the points adjacent in sequence; acquiring point cloud points with the distance smaller than a distance threshold value to form at least one first original point cloud set; and counting the number of point cloud points in at least one first original point cloud set, and acquiring the first original point cloud set with the number larger than a first number threshold value as a first point cloud set.
In one embodiment, the first obtaining module 1101 is specifically configured to:
calculating and obtaining an included angle between straight lines formed by the point cloud points adjacent in sequence; acquiring point cloud points with included angles smaller than an included angle threshold value to form at least one second original point cloud set; and counting the number of the point cloud points in the second original point cloud set, and acquiring the second original point cloud set of which the number is greater than a second number threshold value as a second point cloud set.
In one embodiment, the second obtaining module 1102 is specifically configured to:
determining a pulse width time correction value corresponding to the pulse width of the electromagnetic signal according to the pulse width of the electromagnetic signal and a preset corresponding relation, and obtaining the pulse width time correction value of each cloud point to be processed; determining a rising edge time correction value corresponding to the rising edge time difference of the electromagnetic signal according to the rising edge time difference of the electromagnetic signal and a preset corresponding relation, and obtaining the rising edge time correction value of each cloud point to be processed; the preset corresponding relation comprises a corresponding relation between a target parameter and a time correction value, and the target parameter comprises a pulse width and a rising edge time difference.
In one embodiment, the apparatus further includes a signal testing module, configured to:
and sequentially transmitting and receiving at least two test electromagnetic signals according to the descending order of the signal intensity, and generating a preset corresponding relation according to the at least two test electromagnetic signals.
In one embodiment, the signal testing module is specifically configured to:
acquiring a target parameter of each of at least two test electromagnetic signals; acquiring a time difference between the moment when the signal intensity of the test electromagnetic signal reaches the first intensity for the first time and the moment when the signal intensity of the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time, and taking the time difference as a time correction value corresponding to the test electromagnetic signal; and associating the target parameters of the test electromagnetic signals with the corresponding time correction values to obtain a preset corresponding relation.
The specific definition of the point cloud denoising device can be referred to the above definition of the point cloud denoising method, and is not described herein again. The modules in the point cloud denoising device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a detection radar is provided, the internal structure of which may be as shown in fig. 12. The detection radar comprises a signal transmitter, a signal receiver, a processor, a memory and a network interface which are connected through a system bus. Wherein, the signal transmitter of this detection radar is used for launching the electromagnetic signal, and the signal receiver is used for connecting receiving electromagnetic signal. The processor of the detection radar is used to provide computational and control capabilities. The memory of the detection radar comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the detection radar is used for storing coordinate position data of the point cloud points. The network interface of the detection radar is used for communicating with an external terminal through network connection. The computer program is executed by a processor to implement a point cloud denoising method.
Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a point cloud set to be processed from an original point cloud set; correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal; correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity; calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
clustering point cloud points according to the distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set; clustering the point cloud points according to the angles among the point cloud points in the original point cloud set to obtain at least one second point cloud set; performing a merging operation on at least one first point cloud set and at least one second point cloud set to obtain an initial point cloud set; and removing the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
calculating and obtaining the distance between the cloud points of the points adjacent in sequence; acquiring point cloud points with the distance smaller than a distance threshold value to form at least one first original point cloud set; and counting the number of point cloud points in at least one first original point cloud set, and acquiring the first original point cloud set with the number larger than a first number threshold value as a first point cloud set.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
calculating and obtaining an included angle between straight lines formed by the point cloud points adjacent in sequence; acquiring point cloud points with included angles smaller than an included angle threshold value to form at least one second original point cloud set; and counting the number of the point cloud points in the second original point cloud set, and acquiring the second original point cloud set with the number larger than a second number threshold value as a second point cloud set.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a pulse width time correction value corresponding to the pulse width of the electromagnetic signal according to the pulse width of the electromagnetic signal and a preset corresponding relation, and obtaining the pulse width time correction value of each cloud point to be processed; determining a rising edge time correction value corresponding to the rising edge time difference of the electromagnetic signal according to the rising edge time difference of the electromagnetic signal and a preset corresponding relation, and obtaining the rising edge time correction value of each cloud point to be processed; the preset corresponding relation comprises a corresponding relation between a target parameter and a time correction value, and the target parameter comprises a pulse width and a rising edge time difference.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and sequentially transmitting and receiving at least two test electromagnetic signals according to the descending order of the signal intensity, and generating a preset corresponding relation according to the at least two test electromagnetic signals.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a target parameter of each of at least two test electromagnetic signals; acquiring a time difference between the moment when the signal intensity of the test electromagnetic signal reaches the first intensity for the first time and the moment when the signal intensity of the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time, and taking the time difference as a time correction value corresponding to the test electromagnetic signal; and associating the target parameters of the test electromagnetic signals with the corresponding time correction values to obtain a preset corresponding relation.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:
acquiring a point cloud set to be processed from an original point cloud set; correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal; correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity; calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
In one embodiment, the computer program when executed by the processor further performs the steps of:
clustering point cloud points according to the distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set; clustering point cloud points according to angles among the point cloud points in the original point cloud set to obtain at least one second point cloud set; performing a merging operation on at least one first point cloud set and at least one second point cloud set to obtain an initial point cloud set; and removing the initial point cloud set in the original point cloud set to obtain a point cloud set to be processed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
calculating and obtaining the distance between the cloud points of the points adjacent in sequence; acquiring point cloud points with the distance smaller than a distance threshold value to form at least one first original point cloud set; and counting the number of point cloud points in at least one first original point cloud set, and acquiring the first original point cloud set with the number larger than a first number threshold value as a first point cloud set.
In one embodiment, the computer program when executed by the processor further performs the steps of:
calculating and obtaining an included angle between straight lines formed by the point cloud points adjacent in sequence; acquiring point cloud points with included angles smaller than an included angle threshold value to form at least one second original point cloud set; and counting the number of the point cloud points in the second original point cloud set, and acquiring the second original point cloud set of which the number is greater than a second number threshold value as a second point cloud set.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a pulse width time correction value corresponding to the pulse width of the electromagnetic signal according to the pulse width of the electromagnetic signal and a preset corresponding relation, and obtaining the pulse width time correction value of each cloud point to be processed; determining a rising edge time correction value corresponding to the rising edge time difference of the electromagnetic signal according to the rising edge time difference of the electromagnetic signal and a preset corresponding relation, and obtaining the rising edge time correction value of each cloud point to be processed; the preset corresponding relation comprises a corresponding relation between a target parameter and a time correction value, and the target parameter comprises a pulse width and a rising edge time difference.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and sequentially transmitting and receiving at least two test electromagnetic signals according to the descending order of the signal intensity, and generating a preset corresponding relation according to the at least two test electromagnetic signals.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a target parameter of each of at least two test electromagnetic signals; acquiring a time difference between the moment when the signal intensity of the test electromagnetic signal reaches the first intensity for the first time and the moment when the signal intensity of the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time, and taking the time difference as a time correction value corresponding to the test electromagnetic signal; and associating the target parameters of the test electromagnetic signals with the corresponding time correction values to obtain a preset corresponding relation.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A point cloud denoising method, comprising:
acquiring a point cloud set to be processed from an original point cloud set;
correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed for each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal;
correspondingly acquiring the rising edge time difference of the electromagnetic signals corresponding to the point cloud point to be processed aiming at each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signals; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
2. The method of claim 1, wherein obtaining the point cloud set to be processed from the original point cloud set comprises:
clustering the point cloud points according to the distance between the point cloud points in the original point cloud set to obtain at least one first point cloud set;
clustering the point cloud points according to angles among the point cloud points in the original point cloud set to obtain at least one second point cloud set;
performing a merging operation on the at least one first point cloud set and the at least one second point cloud set to obtain an initial point cloud set;
and removing the initial point cloud set in the original point cloud set to obtain the point cloud set to be processed.
3. The method of claim 2, wherein clustering the point cloud points according to distances between the point cloud points in the original point cloud set to obtain at least a first point cloud set comprises:
calculating and obtaining the distance between the cloud points of the sequentially adjacent points;
acquiring point cloud points with the distance smaller than a distance threshold value to form at least one first original point cloud set;
and counting the number of point cloud points in the at least one first original point cloud set, and acquiring the first original point cloud set of which the number is greater than a first number threshold value as the first point cloud set.
4. The method of claim 2, wherein clustering point cloud points in the original point cloud set according to angles between the point cloud points to obtain at least one second point cloud set comprises:
calculating and obtaining an included angle between straight lines formed by the point cloud points adjacent in sequence;
obtaining point cloud points with the included angle smaller than the included angle threshold value to form at least one second original point cloud set;
and counting the number of point cloud points in the second original point cloud set, and acquiring the second original point cloud set of which the number is greater than a second number threshold value as the second point cloud set.
5. The method according to any one of claims 1 to 4, wherein the obtaining of the pulse width time correction value of each cloud point of the points to be processed according to the pulse width of the electromagnetic signal comprises:
determining a pulse width time correction value corresponding to the pulse width of the electromagnetic signal according to the pulse width of the electromagnetic signal and a preset corresponding relation, and obtaining the pulse width time correction value of each cloud point to be processed;
the obtaining of the rising edge time correction value of each cloud point to be processed according to the rising edge time difference of the electromagnetic signal includes:
determining a rising edge time correction value corresponding to the rising edge time difference of the electromagnetic signal according to the rising edge time difference of the electromagnetic signal and the preset corresponding relation, and obtaining the rising edge time correction value of each cloud point of the points to be processed; the preset corresponding relation comprises a corresponding relation between a target parameter and a time correction value, and the target parameter comprises a pulse width and a rising edge time difference.
6. The method of claim 5, further comprising:
and sequentially transmitting and receiving at least two test electromagnetic signals according to the descending order of the signal intensity, and generating the preset corresponding relation according to the at least two test electromagnetic signals.
7. The method of claim 6, wherein said generating said preset correspondence from said at least two test electromagnetic signals comprises:
acquiring a target parameter of each of the at least two test electromagnetic signals;
acquiring a time difference between the moment when the signal intensity of the test electromagnetic signal reaches the first intensity for the first time and the moment when the signal intensity of the test electromagnetic signal with the maximum preset intensity reaches the first intensity for the first time, and taking the time difference as a time correction value corresponding to the test electromagnetic signal;
and associating the target parameters of the test electromagnetic signals with the corresponding time correction values to obtain the preset corresponding relation.
8. A point cloud denoising apparatus, comprising:
the first acquisition module is used for acquiring a point cloud set to be processed from an original point cloud set;
the second acquisition module is used for correspondingly acquiring the pulse width of the electromagnetic signal reaching the first intensity corresponding to the point cloud point to be processed aiming at each point cloud point to be processed in the point cloud set to be processed, and acquiring the pulse width time correction value of each point cloud point to be processed according to the pulse width of the electromagnetic signal;
the third acquisition module is used for correspondingly acquiring the rising edge time difference of the electromagnetic signal corresponding to each point cloud point to be processed in the point cloud set to be processed, and acquiring the rising edge time correction value of each point cloud point to be processed according to the rising edge time difference of the electromagnetic signal; the rising edge time difference is the time difference between the moment when the signal intensity of the electromagnetic signal corresponding to the point cloud point to be processed first reaches the second intensity and the moment when the signal intensity first reaches the third intensity, and the third intensity is greater than the second intensity;
the point cloud denoising module is used for calculating the difference value between the pulse width time correction value and the rising edge time correction value of each cloud point to be processed; and if the difference value between the pulse width time correction value and the rising edge time correction value of a certain point cloud point to be processed is larger than a preset threshold value, removing the certain point cloud point to be processed from the original point cloud set as an abnormal point.
9. A detection radar comprising a signal transmitter, a signal receiver, and a memory storing a computer program, and a processor, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
CN202110606311.2A 2021-05-27 2021-05-27 Point cloud denoising method and device, detection radar and storage medium Pending CN115407281A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116224304A (en) * 2023-05-10 2023-06-06 中国汽车技术研究中心有限公司 Test method, device and medium of vehicle-mounted laser radar

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116224304A (en) * 2023-05-10 2023-06-06 中国汽车技术研究中心有限公司 Test method, device and medium of vehicle-mounted laser radar
CN116224304B (en) * 2023-05-10 2023-07-28 中国汽车技术研究中心有限公司 Test method, device and medium of vehicle-mounted laser radar

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