CN117616307A - Point cloud processing method and device of laser radar, storage medium and terminal equipment - Google Patents
Point cloud processing method and device of laser radar, storage medium and terminal equipment Download PDFInfo
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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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
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Abstract
The application discloses a point cloud processing method and device of a laser radar, a computer readable storage medium and terminal equipment, wherein the point cloud processing method of the laser radar comprises the following steps: acquiring point cloud data acquired by a laser radar; each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value; judging whether the target scanning point is an expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point; and if the target scanning point is an expansion point, removing the target scanning point from the point cloud data. Through this application, avoided the emergence of high anti-inflation phenomenon, guaranteed the accuracy of laser radar discernment.
Description
The application relates to the technical field of laser sensing, in particular to a point cloud processing method and device of a laser radar, a computer readable storage medium and terminal equipment.
With development of technology, the cost of research, development and manufacturing of the laser radar is lower, the popularity of the laser radar is higher, and the laser radar which is loaded on a vehicle to assist in automatic driving is also higher. The road is generally provided with more traffic signs which indicate the direction of the crossing, the name of the road, the speed limit, warning information and the like, and the traffic signs are generally of a high-reflection type, namely have higher reflectivity and are convenient for the laser radar to identify. However, in practical application, a high-reflection expansion phenomenon often occurs, namely, a circle of point cloud with lower reflectivity is attached to the periphery of the high-reflection card, so that a perception misjudgment is caused.
One of the purposes of the embodiments of the present application is: provided are a point cloud processing method and device for a laser radar, a computer readable storage medium and terminal equipment, and aims to solve the problem of high-reflection expansion phenomenon of the laser radar when high-reflection cards are identified.
A first aspect of an embodiment of the present application provides a method for processing a point cloud of a lidar, which may include:
acquiring point cloud data acquired by a laser radar; each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value;
judging whether the target scanning point is an expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point; the target scanning point is any scanning point in the point cloud data; the adjacent points are scanning points with intervals smaller than a preset threshold value with the target scanning point in the horizontal direction and the vertical direction;
and if the target scanning point is an expansion point, removing the target scanning point from the point cloud data.
In a specific implementation of the first aspect, the determining, according to the measured distance value and the measured reflectivity value between the target scan point and the adjacent point, whether the target scan point is an expansion point may include:
Judging whether the target scanning point is a horizontal expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the horizontal adjacent point; the horizontal adjacent point is an adjacent point which is positioned on the same horizontal line with the target scanning point;
judging whether the target scanning point is a vertical expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the vertical adjacent point; the vertical adjacent point is an adjacent point which is positioned on the same vertical line with the target scanning point;
and if the target scanning point is a horizontal expansion point or a vertical expansion point, determining the target scanning point as an expansion point.
In a specific implementation manner of the first aspect, the determining, according to a measured value of a distance between the target scan point and a horizontal neighboring point and a measured value of a reflectivity, whether the target scan point is a horizontal expansion point may include:
respectively calculating a left-side distance difference and a right-side distance difference according to the distance measurement value of the target scanning point and the horizontal adjacent point;
judging whether the left side distance difference, the right side distance difference, the middle reflectivity value and the right side reflectivity value meet a preset first condition or whether the left side distance difference, the right side distance difference, the left side reflectivity value and the middle reflectivity value meet a preset second condition; the left reflectivity value is the reflectivity value of the leftmost horizontal adjacent point, the middle reflectivity value is the reflectivity measurement value of the target scanning point, and the right reflectivity value is the reflectivity value of the rightmost horizontal adjacent point;
And if the first condition or the second condition is met, determining the target scanning point as a horizontal expansion point.
In a specific implementation of the first aspect, the calculating a left distance difference and a right distance difference according to the distance measurement value of the target scan point and the horizontal neighboring point may include:
respectively calculating first absolute values of differences between distance measurement values of a plurality of horizontal adjacent points at the leftmost side and distance measurement values of the target scanning points;
determining a first absolute value with the maximum value as the left-side distance difference;
respectively calculating second absolute values of differences between the distance measurement values of the plurality of horizontal adjacent points on the rightmost side and the distance measurement values of the target scanning points;
and determining the second absolute value with the maximum value as the right-side distance difference.
In a specific implementation of the first aspect, the first condition may be an intersection of:
the left side distance difference is larger than or equal to a preset distance upper limit threshold value;
the right distance difference is smaller than or equal to a preset distance lower limit threshold value;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;
the right reflectance value is greater than or equal to a preset upper reflectance threshold.
In a specific implementation of the first aspect, the second condition may be an intersection of:
the right distance difference is larger than or equal to a preset distance upper limit threshold value;
the left side distance difference is smaller than or equal to a preset distance lower limit threshold value;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;
the left side reflectivity value is greater than or equal to a preset upper reflectivity threshold.
In a specific implementation manner of the first aspect, the determining, according to a measured value of a distance between the target scan point and a vertically adjacent point and a measured value of a reflectivity, whether the target scan point is a vertically expanded point may include:
respectively calculating an upper side distance difference and a lower side distance difference according to the distance measurement value of the target scanning point and the vertical adjacent point;
judging whether the upper side distance difference, the lower side distance difference, the middle reflectivity value and the lower side reflectivity value meet a preset third condition or whether the upper side distance difference, the lower side distance difference, the upper side reflectivity value and the middle reflectivity value meet a preset fourth condition; the upper side reflectivity value is the reflectivity value of the uppermost vertical adjacent point, the middle reflectivity value is the reflectivity measurement value of the target scanning point, and the lower side reflectivity value is the reflectivity value of the lowermost vertical adjacent point;
And if the third condition or the fourth condition is met, determining the target scanning point as a vertical expansion point.
In a specific implementation of the first aspect, the calculating an upper side distance difference and a lower side distance difference according to the distance measurement value of the target scan point and the vertical adjacent point may include:
respectively calculating third absolute values of differences between distance measurement values of a plurality of vertical adjacent points at the uppermost side and the distance measurement values of the target scanning points;
determining a third absolute value with the maximum value as the upper distance difference;
respectively calculating fourth absolute values of differences between distance measurement values of a plurality of vertical adjacent points at the lowest side and the distance measurement values of the target scanning points;
and determining the fourth absolute value with the maximum value as the lower side distance difference.
In a specific implementation of the first aspect, the third condition may be an intersection of the following conditions:
the upper distance difference is larger than or equal to a preset distance upper limit threshold value;
the lower side distance difference is smaller than or equal to a preset distance lower limit threshold value;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;
the lower reflectance value is greater than or equal to a preset upper reflectance threshold.
In a specific implementation of the first aspect, the fourth condition may be an intersection of the following conditions:
the lower side distance difference is larger than or equal to a preset distance upper limit threshold value;
the upper distance difference is smaller than or equal to a preset distance lower threshold value;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;
the upper reflectance value is greater than or equal to a preset upper reflectance threshold.
A second aspect of the embodiments of the present application provides a point cloud processing device of a laser radar, which may include a functional module for implementing steps of a point cloud processing method of any one of the foregoing laser radars.
A third aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of a point cloud processing method of any of the above-described lidars.
A fourth aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the above-mentioned point cloud processing methods of the lidar when the processor executes the computer program.
A fifth aspect of the embodiments of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the steps of the point cloud processing method of any of the above-mentioned lidars.
The beneficial effects of the embodiment of the application are that: according to the method and the device for identifying the laser radar, the characteristics of the expansion points on the distance measurement value and the reflectivity measurement value are fully utilized, after the point cloud data acquired by the laser radar are acquired, whether the target scanning point is the expansion point or not is judged according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point, and the identified expansion point is removed from the point cloud data, so that the occurrence of high-reflectivity expansion phenomenon is avoided, and the accuracy of laser radar identification is guaranteed.
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required for the description of the embodiments or exemplary techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a lidar;
FIG. 2 is a schematic view of a point cloud with high reflection in an ideal state;
FIG. 3 is a schematic diagram of the spatial distribution of a light beam;
FIG. 4 is a schematic illustration of a high reverse expansion;
FIG. 5 is a schematic view of a point cloud after high reverse expansion;
FIG. 6 is a flowchart of an embodiment of a method for point cloud processing of a lidar according to an embodiment of the present application;
FIG. 7 is a logical block diagram of an expansion point identification process;
FIG. 8 is a schematic view of the point cloud effect before removing the expansion points;
FIG. 9 is a schematic view of the point cloud effect after removing the expansion points;
FIG. 10 is a block diagram of one embodiment of a point cloud processing device of a lidar according to an embodiment of the present application;
fig. 11 is a schematic block diagram of a terminal device in an embodiment of the present application.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In embodiments of the present application, the distance and reflectivity of the target object may be measured based on a lidar. The laser radar is an instrument for ranging by utilizing laser transmission and reception, different lasers emit laser beams with different vertical angles in the air, meanwhile, a photoelectric sensor receives echoes returned by a target object and converts the echoes into weak electric signals, and after amplification, the distance and the reflectivity of the target are calculated in a digital domain through analog-to-digital conversion, so that a scanning view field in the vertical direction is formed. When the motor rotates to the next angle, the whole transmitting and receiving unit repeatedly acts again and the same, the target distances of the adjacent angles are obtained after processing, and the distances and the reflectivities of all target objects with different horizontal angles are collected to form a scanning view field in the horizontal direction. The scanning in the horizontal direction and the scanning in the vertical direction are matched with each other to form three-dimensional distance information of a space target, and the shape, the size, the type and the like of the target object are determined through further sensing processing.
Fig. 1 is a schematic diagram of a typical lidar, where a control and processing unit is configured to control a system to operate according to a certain transmitting and receiving time sequence, and process received data to obtain a distance and reflectivity result of a target object, and the transmitting unit is typically a plurality of semiconductor laser arrays, and transmits laser light according to a certain time sequence under the driving of voltage, and when there is a target object in a transmitting direction, a returned echo is sent to a receiving photoelectric sensor through a receiving lens, converted into an electrical signal, amplified by the receiving unit and converted into a digital quantity, and then formed into a distance and reflectivity result after subsequent digital processing.
Reflectivity is a physical quantity that characterizes the optical reflectivity of an object. Any object in nature has the phenomenon of absorbing and reflecting incident light after being irradiated by light. Electromagnetic wave properties specific to different types of objects are also different, and thus their properties of reflecting incident light are also different. That is, when the incident light is fixed, the intensity of the reflected light is different when the incident light strikes different substances. For example, the sign on the road is a high-reflection object, has extremely strong reflecting capability on incident light, emits light with slightly weak energy, almost can reflect back all the original paths when the sign is hit on the high-reflection sign, and can be detected in the receiving unit without great effort.
The reflectivity of the target object can be generally calculated according to the ratio of the received echo energy and the transmitted energy reflected by the target, and the reflectivity of the high-reflectivity plate is extremely high, and is usually an isolated target. When the emission light beam is in an ideal state, the emission light beam is assumed to be emitted into a straight line, and in the rotating process, the emission light beam enters into the high-reflection card from an open target, and the emission light beam is not in an excessive state and directly enters into the high-reflection card. The point cloud diagram formed by the scanning in the time shown in fig. 2 shows that the light beam is ideally linear and has no transition when scanning the high-reflection card, so that the result of the point cloud represents the actual width of the high-reflection card.
The actual emitted beam is non-ideal, as shown in fig. 3, with an energy distribution in the vertical plane along the emission direction, the farther from the center of the vertical plane, the smaller the light energy. When the light beam sweeps across the high-reflection card from left to right, the light beam edge passes through the high-reflection card first, and because the reflection capability of the high-reflection card is quite strong, small energy at the light beam edge is reflected back to the radar to be received and detected, and the light beam edge is displayed in a low-reflectivity mode. As shown in fig. 4, as the light beam enters the high-reflection card, the echo energy gradually increases until the light beam completely enters the high-reflection card, the formed point cloud is wider than the actual width of the high-reflection card, the point cloud outside the actual width of the high-reflection card shows a low-reflectivity form due to small energy of the edge of the light beam, and the point cloud inside the actual width of the high-reflection card shows a high-reflectivity form due to large energy of the main light beam, which is called high-reflection expansion.
As shown in fig. 5, when the high-reflection expansion phenomenon occurs, a circle of point cloud with very low reflectivity is attached around the high-reflection, and then transitions to the internal point cloud with high reflectivity. In the actual automatic driving perception operation, the doubt or misjudgment of the perception operation is caused, and the situation that a ring-shaped low-reflection card is added around the high-reflection card is considered.
In order to remove low-inverse expansion point clouds around the high-inverse point clouds, the characteristics of expansion points on the distance measurement value and the reflectivity measurement value are fully utilized, after the point cloud data acquired by the laser radar are acquired, whether the target scanning point is the expansion point is judged according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point, and the identified expansion point is removed from the point cloud data, so that the occurrence of the high-inverse expansion phenomenon is avoided, and the accuracy of laser radar identification is ensured.
Fig. 6 is a flowchart of an embodiment of a point cloud processing method of a lidar according to the embodiment of the present application, where a specific processing procedure may include the following steps:
and step S601, acquiring point cloud data acquired by a laser radar.
Wherein each scan point in the point cloud data includes a distance measurement and a reflectance measurement. Taking the scan point with the horizontal scan number m and the vertical scan number n as an example, the distance measurement value may be denoted as Dis (m, n), and the reflectance measurement value may be denoted as reflectance (m, n).
The typical value of the interval between adjacent horizontal scanning numbers is 1/18000 seconds, and when the typical frame rate is 10 frames, the horizontal angle difference between adjacent dot frequencies is 0.2 degrees, and the typical angle interval between adjacent vertical scanning numbers is 0.1 degrees.
Step S602, judging whether the target scanning point is an expansion point according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point.
The target scanning point can be any scanning point in the point cloud data; the adjacent points may be scanning points whose intervals with the target scanning point in the horizontal direction and in the vertical direction are smaller than a preset threshold.
Taking the horizontal direction as an example, whether the target scanning point is a horizontal expansion point can be determined according to the measured value of the distance between the target scanning point and the horizontal adjacent point and the measured value of the reflectivity.
Wherein, the horizontal adjacent point is an adjacent point which is positioned on the same horizontal line with the target scanning point. With the target scan point as the center and the horizontal adjacent points on both sides, k scan points can be stored in total, and the specific number of k can be set according to practical situations, preferably, the typical value of k can be set to be 9.
For example, if a scan point with a horizontal scan number of m and a vertical scan number of n is used as the target scan point, k distance measurements from Dis (m- (k-1)/2, n) to Dis (m+ (k-1)/2, n) and k reflectance measurements from reflectance (m- (k-1)/2, n) to reflectance (m+ (k-1)/2, n) are stored.
First, a left-side distance difference and a right-side distance difference may be calculated from distance measurement values of the target scan point and the horizontal neighboring point, respectively.
In a specific implementation of the embodiment of the present application, the absolute value of the difference between the distance measurement value of the leftmost horizontal adjacent point and the distance measurement value of the target scan point may be determined as a left-side distance difference, that is:
DisDifL＝abs(Dis(m－(k－1)/2,n)－Dis(m,n))
the absolute value of the difference between the distance measurement value of the rightmost horizontal adjacent point and the distance measurement value of the target scanning point is determined as the right-side distance difference, that is:
DisDifR＝abs(Dis(m＋(k－1)/2,n)－Dis(m,n))
where abs is the absolute function, disDifL is the left-hand distance difference, and DisDifR is the right-hand distance difference.
It should be noted that in the practical application scenario, there may be a large error in the distance measurement value, and if the calculation is performed only by relying on the leftmost and rightmost horizontal neighboring points, the accuracy of the final expansion point recognition result may be affected. Therefore, in another specific implementation of the embodiment of the present application, the leftmost horizontal neighboring points and the rightmost horizontal neighboring points may be comprehensively considered, so as to improve the accuracy of the final expansion point recognition result.
Taking calculation of the left-side distance difference as an example, first absolute values of differences between distance measurement values of the s horizontally adjacent points at the leftmost side and distance measurement values of the target scanning points may be calculated, respectively, and the first absolute value having the largest value may be determined as the left-side distance difference. Wherein s is a positive integer, the specific value of s can be set according to the actual situation, preferably, s can be set to 2, and then the left distance difference can be calculated according to the following formula:
DisDifL＝max(abs(Dis(m－(k－1)/2,n)－Dis(m,n)),abs(Dis(m－(k－1)/2＋1,n)－Dis(m,n)))
Where max is the maximum function.
Similarly, for calculation of the right-side distance difference, second absolute values of differences between the distance measurement values of the s horizontally adjacent points on the far right side and the distance measurement values of the target scanning point may be calculated, respectively, and the second absolute value having the largest value may be determined as the right-side distance difference. When s is 2, then the right-side distance difference can be calculated according to the following equation:
DisDifR＝max(abs(Dis(m＋(k－1)/2－1,n)－Dis(m,n)),abs(Dis(m＋(k－1)/2,n)－Dis(m,n)))。
then, the left reflectance value, the middle reflectance value, and the right reflectance value may be determined, respectively.
The left reflectivity value is the reflectivity value of the leftmost horizontal adjacent point, the middle reflectivity value is the reflectivity measurement value of the target scanning point, and the right reflectivity value is the reflectivity value of the rightmost horizontal adjacent point, namely:
ReflectL＝Reflect(m－(k－1)/2,n)
ReflectC＝Reflect(m,n)
ReflectR＝Reflect(m＋(k－1)/2,n)
wherein, reflectol is left reflectance value, reflectoc is middle reflectance value, reflector is right reflectance value.
After the left-side distance difference, the right-side distance difference, the left-side reflectance value, the intermediate reflectance value, and the right-side reflectance value are obtained, it may be determined whether the values satisfy a preset first condition or a preset second condition. And if the first condition or the second condition is met, determining the target scanning point as a horizontal expansion point.
The first condition may be an intersection of the following 4 conditions, that is, the following 4 conditions need to be satisfied simultaneously:
The distance difference on the left side is larger than or equal to a preset distance upper limit threshold, namely DisDifL is larger than or equal to ThreDisB, threDisB, and the specific value of the distance difference can be set according to actual conditions, and preferably, the typical value of the distance difference can be set to be 1 meter;
the distance difference on the right side is smaller than or equal to a preset distance lower limit threshold, namely DisDifR is less than or equal to ThreDisS, threDisS, the specific value of the distance difference can be set according to actual conditions, and preferably, the typical value of the distance difference can be set to be 0.1 meter;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold, namely reflectivity is smaller than or equal to ThreReflectS, threReflectS and is a lower reflectivity threshold, the specific value of the intermediate reflectivity value can be set according to actual conditions, and preferably, the typical value of the intermediate reflectivity value can be set to be 15;
the reflectance value on the right side is greater than or equal to the preset reflectance upper limit threshold, that is, reflectance r is greater than or equal to ThreReflectB, threReflectB, which is a reflectance upper limit threshold, and the specific value thereof may be set according to practical situations, and preferably, a typical value thereof may be set to 200.
When the first condition is satisfied, the target scan point may be considered to be the expansion point on the left side of the high-reflection card.
The second condition may be an intersection of 4 conditions that require the following 4 conditions to be satisfied simultaneously:
The distance difference on the right side is larger than or equal to a preset distance upper limit threshold value, namely DisDifR is larger than or equal to ThreeDisB;
the left distance difference is smaller than or equal to a preset distance lower limit threshold, namely DisDifL is less than or equal to ThreeDiss;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold, namely, reflec is less than or equal to ThreReflectS;
the left reflectivity value is larger than or equal to a preset upper reflectivity threshold, namely, refleL is larger than or equal to ThreReflectB.
When the second condition is satisfied, then the target scan point may be considered to be the expansion point on the right side of the high-reflection card.
Similarly to the horizontal direction, in the vertical direction, whether the target scanning point is a vertical expansion point can be determined from the measured value of the distance between the target scanning point and the vertically adjacent point and the measured value of the reflectivity.
Wherein the vertical adjacent point is an adjacent point on the same vertical line as the target scanning point. The data of k scanning points can be stored in total by taking the target scanning point as the center and adding the vertical adjacent points above and below the target scanning point. For example, if a scan point with a horizontal scan number of m and a vertical scan number of n is used as the target scan point, k distance measurements from Dis (m, n- (k-1)/2) to Dis (m, n+ (k-1)/2) and k reflectance measurements from reflectance (m, n- (k-1)/2) to reflectance (m, n+ (k-1)/2) are stored.
First, an upper side distance difference and a lower side distance difference may be calculated from distance measurement values of the target scan point and the vertically adjacent point, respectively.
In a specific implementation of the embodiment of the present application, the absolute value of the difference between the distance measurement value of the uppermost vertical adjacent point and the distance measurement value of the target scan point may be determined as an upper side distance difference, that is:
DisDifU＝abs(Dis(m,n－(k－1)/2)－Dis(m,n))
the absolute value of the difference between the distance measurement value of the lowermost vertical adjacent point and the distance measurement value of the target scanning point is determined as the lower side distance difference, that is:
DisDifD＝abs(Dis(m,n＋(k－1)/2)－Dis(m,n))
wherein DisDifL is the upper side distance difference and DisDifR is the lower side distance difference.
It should be noted that in the practical application scenario, there may be a large error in the distance measurement value, and if the calculation is performed only by means of the vertical adjacent points at the uppermost side and the lowermost side, the accuracy of the final expansion point identification result may be affected. Therefore, in another specific implementation of the embodiment of the present application, the uppermost several vertical adjacent points and the lowermost several vertical adjacent points may be comprehensively considered, so as to improve the accuracy of the final expansion point recognition result.
Taking the calculation of the upper-side distance difference as an example, the third absolute value of the difference between the distance measurement values of the s vertically adjacent points on the uppermost side and the distance measurement value of the target scanning point may be calculated, respectively, and the third absolute value having the largest value may be determined as the upper-side distance difference. When s is 2, then the upper distance difference can be calculated according to the following equation:
DisDifU＝max(abs(Dis(m,n－(k－1)/2)－Dis(m,n)),abs(Dis(m,n－(k－1)/2＋1)－Dis(m,n)))。
Similarly, for calculation of the lower-side distance difference, the fourth absolute value of the difference between the distance measurement values of the s vertically adjacent points on the lowest side and the distance measurement value of the target scanning point may be calculated, respectively, and the fourth absolute value having the largest value may be determined as the lower-side distance difference. When s is 2, then the lower distance difference can be calculated according to the following equation:
DisDifD＝max(abs(Dis(m,n＋(k－1)/2－1)－Dis(m,n)),abs(Dis(m,n＋(k－1)/2)－Dis(m,n)))。
then, an upper side reflectance value, a middle reflectance value, and a lower side reflectance value may be determined, respectively.
The upper side reflectivity value is the reflectivity value of the uppermost vertical adjacent point, the middle reflectivity value is the reflectivity measurement value of the target scanning point, and the lower side reflectivity value is the reflectivity value of the lowermost vertical adjacent point, namely:
ReflectU＝Reflect(m,n－(k－1)/2)
ReflectC＝Reflect(m,n)
ReflectD＝Reflect(m,n＋(k－1)/2)
wherein, reflectU is the upper reflectance value, reflectC is the middle reflectance value, reflectD is the lower reflectance value.
After the upper side distance difference, the lower side distance difference, the upper side reflectance value, the intermediate reflectance value, and the lower side reflectance value are obtained, it may be determined whether or not these values satisfy a preset third condition or fourth condition. And if the third condition or the fourth condition is met, determining the target scanning point as a vertical expansion point.
Wherein the third condition may be an intersection of the following 4 conditions, i.e. the following 4 conditions need to be satisfied simultaneously:
The upper distance difference is larger than or equal to a preset distance upper limit threshold, namely DisDifU is larger than or equal to ThreeDisB;
the lower side distance difference is smaller than or equal to a preset distance lower limit threshold, namely DisDifD is less than or equal to ThreeDiss;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold, namely, reflec is less than or equal to ThreReflectS;
the lower side reflectivity value is larger than or equal to a preset reflectivity upper limit threshold, namely, the reflectivity D is more than or equal to ThreReflectB.
When the third condition is satisfied, the target scanning point can be regarded as the expansion point on the upper side of the high-reflection card.
The fourth condition may be an intersection of the following 4 conditions, i.e. the following 4 conditions need to be met simultaneously:
the lower side distance difference is larger than or equal to a preset distance upper limit threshold value, namely DisDifD is larger than or equal to ThreeDisB;
the upper distance difference is smaller than or equal to a preset distance lower limit threshold, namely DisDifU is less than or equal to ThreeDiss;
the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold, namely, reflec is less than or equal to ThreReflectS;
the upper reflectivity value is larger than or equal to a preset upper reflectivity threshold, namely, the reflectivity U is more than or equal to ThreReflectB.
When the fourth condition is satisfied, the target scanning point can be regarded as the expansion point on the lower side of the high-reflection card.
Whether the target scan point is a horizontal expansion point or a vertical expansion point, the target scan point may be determined to be an expansion point.
It should be noted that, in the above process, only one scan point is taken as an example to describe the expansion point identification process, and all scan points in the point cloud data are traversed according to this processing manner, so that all expansion points can be identified.
Fig. 7 is a logical block diagram showing the expansion point identification process in the horizontal direction. As shown, the specific implementation procedure may include:
1. the distance measurement Dis (m, n) and the reflectivity measurement reflectance (m, n) of the current scanning point are written into the cache, the writing address is determined by the current horizontal scanning sequence number m, and the reading address is determined by the horizontal scanning sequence number m-1.
2. Reading distance measurement values from the cache, writing the distance measurement values into a shift register corresponding to the distance measurement values, wherein k shift registers are arranged for the distance measurement values, and the stored distance measurement values are sequentially recorded as follows: dis (m-k, n), dis (m-k+1, n), dis (m- (k+1)/2, n), dis (m-2, n), dis (m-1, n). Similarly, the reflectance measurements are read from the buffer and written into shift registers corresponding to the reflectance measurements, where k shift registers are provided for the reflectance measurements in total, which store the reflectance measurements in turn as: reflect (m-k, n), reflect (m-k+1, n),. The term, reflect (m- (k+1)/2, n),. The term, reflect (m-2, n), reflect (m-1, n), and set up:
ReflectL＝Reflect(m－k,n)
ReflectC＝Reflect(m－(k＋1)/2,n)
ReflectR＝Reflect(m－1,n)
3. In the 1 st reflectance discriminator, the decision is made according to the following conditions:
if ReflectC is less than or equal to threreflexes and ReflectR is greater than or equal to threreflexeb, setting a decision result reflecter=1, otherwise, setting a decision result reflecter=0.
In the 2 nd reflectance discriminator, the decision is made according to the following conditions:
if reflec is less than or equal to threreflectos and reflectol is greater than or equal to threreflectob, setting a decision result reflectoer=1, otherwise, setting a decision result reflectoer=0.
4. The following calculations were performed in 4 subtractors:
Sub00＝Dis(m－k,n)－Dis(m－(k＋1)/2,n)
Sub01＝Dis(m－k＋1,n)－Dis(m－(k＋1)/2,n)
Sub02＝Dis(m－2,n)－Dis(m－(k＋1)/2,n)
Sub03＝Dis(m－1,n)－Dis(m－(k ＋1)/2,n)
among them, sub00, sub01, sub02, sub03 are the calculation results of 4 subtractors, respectively.
5. In the 4 absolute value calculators, absolute values of calculation results of the 4 subtractors are calculated, respectively.
Specifically, in the 1 st absolute value calculator, if Sub00 is equal to or greater than 0, its output Abs 00=sub 00 is set, otherwise Abs 00= -Sub00 is set;
in the 2 nd absolute value calculator, if Sub01 is not less than 0, setting its output Abs 01=sub 01, otherwise, setting Abs 01= -Sub01;
in the 3 rd absolute value calculator, if Sub02 is not less than 0, setting its output Abs 02=sub 02, otherwise, setting Abs 02= -Sub02;
in the 4 th absolute value calculator, if Sub03 is equal to or greater than 0, its output Abs 03=sub 03 is set, otherwise Abs 03= -Sub03 is set.
6. In the two comparators, the maximum value of the absolute value is obtained two by two.
Specifically, in the 1 st comparator, if Abs00 is equal to or greater than Abs01, the output dis difl=abs 00 is set, otherwise, dis difl=abs 01 is set;
in the 2 nd comparator, if Abs02 is equal to or greater than Abs03, the output distifr=abs 02 is set, otherwise distifr=abs 03 is set.
7. In the 1 st distance discriminator, the decision is made according to the following conditions:
if DisDifL is more than or equal to ThreeDisB and DisDifR is less than or equal to ThreeDisS, setting a judgment result DisLDeteer=1, otherwise, setting the judgment result DisLDeteer=0.
In the 2 nd distance discriminator, the decision is made according to the following conditions:
if DisDifR is more than or equal to ThreeDisB and DisDifL is less than or equal to ThreeDisS, setting a judgment result DisRDeteter=1, otherwise, setting the judgment result DisRDeteter=0.
8. The result output by the 1 st distance discriminator and the result output by the 1 st reflectivity discriminator are input into a left expansion discriminator, and logical AND operation is carried out according to the following formula:
SpreadL＝DisLDeter & ReflectLDeter
the result output by the 2 nd distance discriminator and the result output by the 2 nd reflectivity discriminator are input into a right expansion discriminator, and logical AND operation is carried out according to the following formula:
SpreadR＝DisRDeter &ReflectRDeter
the result SpreadL output by the left expansion judgement device and the result SpreadR output by the right expansion judgement device are input into the expansion judgement device, and logic OR operation is carried out according to the following formula:
Spread＝SpreadL∣SpreadR
If the Spread is 1, the scan point corresponding to the middle shift register is a horizontal expansion point, and if the Spread is 0, the scan point corresponding to the middle shift register is not a horizontal expansion point.
The expansion point identification process in the vertical direction is similar to the expansion point identification process in the horizontal direction, and reference is made to the above, and details thereof will not be repeated here.
In step S603, if the target scan point is an expansion point, the target scan point is removed from the point cloud data.
Fig. 8 is a schematic view showing the effect of the point cloud before the expansion point is removed, and it can be seen that a circle of point cloud with very low reflectivity is attached around the high-reflection board. Fig. 9 is a schematic view showing the effect of point cloud after removing the expansion points, and it can be seen that the expansion points around the high-reflection cards have been eliminated.
In summary, the characteristics of the expansion points on the distance measurement value and the reflectivity measurement value are fully utilized, after the point cloud data acquired by the laser radar are acquired, whether the target scanning point is the expansion point is judged according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point, and the identified expansion point is removed from the point cloud data, so that the occurrence of high-inverse expansion phenomenon is avoided, and the accuracy of laser radar identification is ensured.
Fig. 10 shows an embodiment structural diagram of a point cloud processing device of a lidar according to the embodiment of the present application, corresponding to the point cloud processing method of a lidar described in the foregoing embodiment.
In this embodiment, a point cloud processing device of a laser radar may include:
the point cloud data acquisition module 1001 is configured to acquire point cloud data acquired by the lidar; each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value;
an expansion point judging module 1002, configured to judge whether a target scanning point is an expansion point according to a distance measurement value and a reflectivity measurement value of the target scanning point and an adjacent point; the target scanning point is any scanning point in the point cloud data; the adjacent points are scanning points with intervals smaller than a preset threshold value with the target scanning point in the horizontal direction and the vertical direction;
and an expansion point removing module 1003, configured to remove the target scan point from the point cloud data if the target scan point is an expansion point.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working processes of the apparatus and modules described above may refer to corresponding processes in the foregoing method embodiments, which are not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Fig. 11 shows a schematic block diagram of a terminal device provided in an embodiment of the present application, and for convenience of explanation, only a portion relevant to the embodiment of the present application is shown.
As shown in fig. 11, the terminal device 11 of this embodiment includes: a processor 110, a memory 111 and a computer program 112 stored in said memory 111 and executable on said processor 110. The processor 110, when executing the computer program 112, implements the steps in the point cloud processing method embodiments of the respective lidar described above. Alternatively, the processor 110, when executing the computer program 112, performs the functions of the modules/units of the apparatus embodiments described above.
By way of example, the computer program 112 may be partitioned into one or more modules/units that are stored in the memory 111 and executed by the processor 110 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 112 in the terminal device 11.
It will be appreciated by those skilled in the art that fig. 11 is merely an example of the terminal device 11 and does not constitute a limitation of the terminal device 11, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device 11 may further include an input-output device, a network access device, a bus, etc.
The processor 110 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application SpecificIntegrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 111 may be an internal storage unit of the terminal device 11, such as a hard disk or a memory of the terminal device 11. The memory 111 may be an external storage device of the terminal device 11, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 11. Further, the memory 111 may also include both an internal storage unit and an external storage device of the terminal device 11. The memory 111 is used for storing the computer program as well as other programs and data required by the terminal device 11. The memory 111 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each method embodiment described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (13)
- The point cloud processing method of the laser radar is characterized by comprising the following steps of:acquiring point cloud data acquired by a laser radar; each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value;judging whether the target scanning point is an expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point; the target scanning point is any scanning point in the point cloud data; the adjacent points are scanning points with intervals smaller than a preset threshold value with the target scanning point in the horizontal direction and the vertical direction;and if the target scanning point is an expansion point, removing the target scanning point from the point cloud data.
- The method for processing the point cloud of the lidar according to claim 1, wherein the determining whether the target scanning point is an expansion point according to the measured value of the distance between the target scanning point and the neighboring point and the measured value of the reflectivity, comprises:judging whether the target scanning point is a horizontal expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the horizontal adjacent point; the horizontal adjacent point is an adjacent point which is positioned on the same horizontal line with the target scanning point;judging whether the target scanning point is a vertical expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the vertical adjacent point; the vertical adjacent point is an adjacent point which is positioned on the same vertical line with the target scanning point;and if the target scanning point is a horizontal expansion point or a vertical expansion point, determining the target scanning point as an expansion point.
- The method according to claim 2, wherein the determining whether the target scanning point is a horizontal expansion point according to the distance measurement value and the reflectivity measurement value of the target scanning point and the horizontal adjacent point comprises:respectively calculating a left-side distance difference and a right-side distance difference according to the distance measurement value of the target scanning point and the horizontal adjacent point;Judging whether the left side distance difference, the right side distance difference, the middle reflectivity value and the right side reflectivity value meet a preset first condition or whether the left side distance difference, the right side distance difference, the left side reflectivity value and the middle reflectivity value meet a preset second condition; the left reflectivity value is the reflectivity value of the leftmost horizontal adjacent point, the middle reflectivity value is the reflectivity measurement value of the target scanning point, and the right reflectivity value is the reflectivity value of the rightmost horizontal adjacent point;and if the first condition or the second condition is met, determining the target scanning point as a horizontal expansion point.
- A point cloud processing method of a lidar according to claim 3, wherein the calculating of the left-side distance difference and the right-side distance difference from the distance measurement value of the target scanning point and the horizontally adjacent point, respectively, comprises:respectively calculating first absolute values of differences between distance measurement values of a plurality of horizontal adjacent points at the leftmost side and distance measurement values of the target scanning points;determining a first absolute value with the maximum value as the left-side distance difference;respectively calculating second absolute values of differences between the distance measurement values of the plurality of horizontal adjacent points on the rightmost side and the distance measurement values of the target scanning points;And determining the second absolute value with the maximum value as the right-side distance difference.
- A point cloud processing method of a lidar according to claim 3, wherein the first condition is an intersection of:the left side distance difference is larger than or equal to a preset distance upper limit threshold value;the right distance difference is smaller than or equal to a preset distance lower limit threshold value;the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;the right reflectance value is greater than or equal to a preset upper reflectance threshold.
- A point cloud processing method of a lidar according to claim 3, wherein the second condition is an intersection of:the right distance difference is larger than or equal to a preset distance upper limit threshold value;the left side distance difference is smaller than or equal to a preset distance lower limit threshold value;the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;the left side reflectivity value is greater than or equal to a preset upper reflectivity threshold.
- The method according to claim 2, wherein the determining whether the target scanning point is a vertical expansion point according to the distance measurement value and the reflectivity measurement value of the target scanning point and the vertical adjacent point comprises:Respectively calculating an upper side distance difference and a lower side distance difference according to the distance measurement value of the target scanning point and the vertical adjacent point;judging whether the upper side distance difference, the lower side distance difference, the middle reflectivity value and the lower side reflectivity value meet a preset third condition or whether the upper side distance difference, the lower side distance difference, the upper side reflectivity value and the middle reflectivity value meet a preset fourth condition; the upper side reflectivity value is the reflectivity value of the uppermost vertical adjacent point, the middle reflectivity value is the reflectivity measurement value of the target scanning point, and the lower side reflectivity value is the reflectivity value of the lowermost vertical adjacent point;and if the third condition or the fourth condition is met, determining the target scanning point as a vertical expansion point.
- The method according to claim 7, wherein calculating the upper-side distance difference and the lower-side distance difference from the distance measurement values of the target scanning point and the vertical neighboring point, respectively, comprises:respectively calculating third absolute values of differences between distance measurement values of a plurality of vertical adjacent points at the uppermost side and the distance measurement values of the target scanning points;Determining a third absolute value with the maximum value as the upper distance difference;respectively calculating fourth absolute values of differences between distance measurement values of a plurality of vertical adjacent points at the lowest side and the distance measurement values of the target scanning points;and determining the fourth absolute value with the maximum value as the lower side distance difference.
- The method of claim 7, wherein the third condition is an intersection of:the upper distance difference is larger than or equal to a preset distance upper limit threshold value;the lower side distance difference is smaller than or equal to a preset distance lower limit threshold value;the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;the lower reflectance value is greater than or equal to a preset upper reflectance threshold.
- The method of claim 7, wherein the fourth condition is an intersection of:the lower side distance difference is larger than or equal to a preset distance upper limit threshold value;the upper distance difference is smaller than or equal to a preset distance lower threshold value;the intermediate reflectivity value is smaller than or equal to a preset lower reflectivity threshold;The upper reflectance value is greater than or equal to a preset upper reflectance threshold.
- A point cloud processing device for a laser radar, comprising:the point cloud data acquisition module is used for acquiring point cloud data acquired by the laser radar; each scanning point in the point cloud data comprises a distance measurement value and a reflectivity measurement value;the expansion point judging module is used for judging whether the target scanning point is an expansion point or not according to the distance measurement value and the reflectivity measurement value of the target scanning point and the adjacent point; the target scanning point is any scanning point in the point cloud data; the adjacent points are scanning points with intervals smaller than a preset threshold value with the target scanning point in the horizontal direction and the vertical direction;and the expansion point removing module is used for removing the target scanning point from the point cloud data if the target scanning point is an expansion point.
- A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the point cloud processing method of a lidar according to any of claims 1 to 10.
- Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the point cloud processing method of a lidar according to any of claims 1 to 10 when the computer program is executed.
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