CN118244255A - Drag point identification method, device, electronic equipment and readable storage medium - Google Patents
Drag point identification method, device, electronic equipment and readable storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, electronic equipment and a readable storage medium for identifying a drag point, which relate to the field of radar identification, and the method comprises the following steps: the method comprises the steps of obtaining a radar point cloud to be detected, obtaining a second point and a third point corresponding to the first point aiming at each first point in the radar point cloud to be detected, respectively determining ranging values and pulse widths of the first point, the second point and the third point, calculating a first ranging difference value between the first point and the second point based on each ranging value, calculating a second ranging difference value between the first point and the third point, determining average trailing point angles between the first point, the second point and the third point, and carrying out trailing point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average trailing point angle and each pulse width. According to the invention, the dragging points are identified based on the geometric features and the signal features, so that the identification accuracy and recall rate of the dragging points are effectively improved, and the quality of the point cloud is improved.
Description
Technical Field
The invention relates to the technical field of radar identification, in particular to a method and a device for identifying a drag point, electronic equipment and a readable storage medium.
Background
The existing drag point distance measuring method comprises a distance threshold method and a vector angle method, and the two methods utilize the geometric relationship between adjacent scanning points to carry out screening judgment.
The distance threshold method is used for identifying isolated drags which cannot be associated with front and rear targets by carrying out threshold clustering on distance measurement values between adjacent scanning points. The vector angle method sets a threshold value for the included angle by calculating the included angle of vectors between adjacent scanning points, so that the dragging point with the abrupt angle change is identified, and the ranging method is poor in accuracy.
Disclosure of Invention
The invention aims to provide a method and a device for identifying a drag point, electronic equipment and a readable storage medium, which can improve the accuracy of drag point identification.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
In a first aspect, an embodiment of the present invention provides a method for identifying a drag point, where the method includes:
acquiring a radar point cloud to be detected, wherein when the radar point cloud to be detected is a radar emitting light pulse, the light pulse irradiates to the edges of two targets with a relatively short distance at the same time and returns to the radar point cloud;
acquiring a second point and a third point corresponding to the first point aiming at each first point in the radar point cloud to be detected, wherein the second point and the third point are points adjacent to the first point, and the radar point cloud to be detected comprises a plurality of first points;
respectively determining ranging values and pulse widths of the first point, the second point and the third point;
Calculating a first ranging difference between the first point and the second point based on each ranging value, and calculating a second ranging difference between the first point and the third point;
determining an average drag point angle between the first, second, and third points;
and carrying out the trailing point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average trailing point angle and each pulse width.
Optionally, the step of calculating a first ranging difference between the first point and the second point and a second ranging difference between the first point and the third point based on each ranging value includes:
Calculating an absolute value of a first difference between the ranging value of the first point and the ranging value of the second point;
Taking the absolute value of the first difference value as a first ranging difference value between the first point and the second point;
calculating an absolute value of a second difference between the ranging value of the first point and the ranging value of the third point;
And taking the absolute value of the second difference value as a second ranging difference value between the first point and the third point.
Optionally, the step of acquiring the second point and the third point corresponding to the first point includes:
when the radar point cloud to be detected indicates to perform scanning in the vertical direction, acquiring a second point and a third point corresponding to the first point in the vertical direction;
And when the radar point cloud to be detected indicates to scan in the horizontal direction, acquiring a second point and a third point corresponding to the first point in the horizontal direction.
Optionally, the step of determining an average drag point angle between the first, second and third points includes:
determining a first included angle between the ranging value of the second point and the ranging value of the first point;
Calculating a first dragging point angle between the first point and the second point based on the magnitude relation between the ranging value of the second point and the ranging value of the first point, the first included angle and the ranging value of the second point;
determining a second included angle between the ranging value of the third point and the ranging value of the first point;
Calculating a second dragging point angle between the first point and the third point based on the magnitude relation between the ranging value of the third point and the ranging value of the first point, the second included angle and the ranging value of the third point;
And calculating the average value of the first dragging point angle and the second dragging point angle as the average dragging point angle among the first point, the second point and the third point.
Optionally, when the ranging value of the first point is greater than the ranging value of the second point, the first dragging point angle is calculated by the following formula:
；
Wherein, For the ranging value of the first point,/>For the distance measurement value of the second point,/>Is a first included angle;
when the ranging value of the second point is larger than that of the first point, the first dragging point angle is calculated by the following formula:
。
Optionally, when the ranging value of the first point is greater than the ranging value of the third point, the second dragging point angle is calculated by the following formula:
；
Wherein, For the ranging value of the first point,/>For the ranging value of the third point,/>Is a second included angle;
When the ranging value of the third point is greater than the ranging value of the first point, the second dragging point angle is calculated by the following formula:
。
Optionally, the step of performing the drag point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average drag point angle, and each pulse width includes:
comparing each ranging value with a maximum towing point distance threshold value respectively;
comparing the first ranging difference value with a maximum towing point distance difference value under the condition that each ranging value is smaller than or equal to the maximum towing point distance threshold value;
Comparing the second ranging difference value with the maximum tow point distance difference value under the condition that the first ranging difference value is smaller than or equal to the maximum tow point distance difference value;
Comparing the average trailing angle with a maximum trailing angle threshold and a minimum trailing angle threshold if the second ranging difference is less than or equal to the maximum trailing distance difference;
Calculating a third difference value of the pulse width of the first point and the pulse width of the second point and a fourth difference value of the pulse width of the first point and the pulse width of the third point when the average trailing point angle is larger than the maximum trailing point angle threshold or when the average trailing point angle is smaller than the minimum trailing point angle threshold;
Comparing the third difference value and the fourth difference value with a dragging point pulse width threshold value respectively;
And determining that the first point is a trailing point when any one of the third difference value and the fourth difference value is greater than the trailing point pulse width threshold.
Optionally, the method further comprises: determining that the first point is not a trailing point if any one of the ranging values is greater than the maximum trailing point distance threshold;
Determining the first point non-trailing point if the first ranging difference is greater than the maximum trailing point distance difference;
and determining that the first point is not a trailing point if the second range difference is greater than the maximum trailing point distance difference.
In a second aspect, an embodiment of the present invention provides a drag point identifying device, including:
the acquisition module is used for acquiring the radar point cloud to be detected; acquiring a second point and a third point corresponding to the first point aiming at each first point in the radar point cloud to be detected, wherein when the radar point cloud to be detected is a radar emitting light pulse, the light pulse irradiates to the edges of two targets close to each other at the same time and returns to the point cloud of the radar, and the second point and the third point are points adjacent to the first point;
the determining module is used for determining the ranging values and the pulse widths of the first point, the second point and the third point respectively; calculating a first ranging difference between the first point and the second point based on each ranging value, and calculating a second ranging difference between the first point and the third point; determining an average drag point angle between the first, second, and third points;
And the identification module is used for carrying out the drag point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average drag point angle and each pulse width.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the drag point identification method when executing the computer program.
In a fourth aspect, embodiments of the present invention provide a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for identifying a drag point.
The invention has the following beneficial effects:
According to the method, when the radar point cloud to be detected is the radar emitting light pulse, the light pulse irradiates to the edges of two targets with a relatively close distance and returns to the radar point cloud, for each first point in the radar point cloud to be detected, a second point and a third point corresponding to the first point are obtained, the second point and the third point are points adjacent to the first point, the radar point cloud to be detected comprises a plurality of first points, ranging values and pulse widths of the first point, the second point and the third point are respectively determined, a first ranging difference value between the first point and the second point is calculated based on each ranging value, a second ranging difference value between the first point and the third point is calculated, an average towing point angle between the first point, the second point and the third point is determined, and the first point is identified based on each ranging value, the first ranging difference value, the second ranging difference value, the average towing point angle and each pulse width. According to the invention, the dragging points are identified based on the geometric features and the signal features, so that the identification accuracy and recall rate of the dragging points are effectively improved, and the quality of the point cloud is improved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic drawing of a drag point formation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of pulses of light spots impinging on an object A and an object B according to an embodiment of the present invention;
FIG. 3 is a schematic drawing of a drag point;
fig. 4 is a schematic block diagram of an electronic device according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart of a method for identifying a drag point according to an embodiment of the present invention;
FIG. 6 is a second flowchart of a method for identifying a drag point according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a first point, a second point and a third point according to an embodiment of the present invention;
FIG. 8 is a third flow chart of a method for identifying a drag point according to an embodiment of the present invention;
FIG. 9 is a flowchart of a method for identifying a drag point according to an embodiment of the present invention;
fig. 10 is a block diagram of a drag point identifying device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The phenomenon of dragging, also commonly referred to as "tailing" in the lidar point cloud, is a widely focused problem in lidar data processing. The method is characterized in that when the laser radar emits light pulses once, light beams are simultaneously irradiated to edges of two objects which are close to each other, so that echo signals are overlapped at a receiving end, and a point which looks like a connecting line between the objects is formed.
When the lidar emits a detection pulse, the pulse may impinge on the edges of object a and object B simultaneously, as shown in fig. 1. On object a, a portion of the spot will be diffusely reflected and a portion of the light will be reflected back to the lidar and captured by its photodetector. Also, a similar phenomenon occurs on the object B. This results in the detection of a signal in the detection pulse that is partially diffusely reflected by object a and partially diffusely reflected by object B, so that the receiver of the lidar no longer receives an ideal single gaussian pulse, but rather a superposition of the two pulses.
As shown in fig. 2, the solid and solid lines are single gaussian pulses generated by the entire spot striking objects a and B, respectively, and the hollow and dashed lines are pulses generated by the partial spots striking objects a and B, respectively. The peaks of the solid and hollow dots are at 50 ns, since they originate from object a, and the same delay time of 50 ns also means that the distance of the two pulses is the same on the distance calculation. The amplitude of the dashed line is lower than the solid line because the energy of the dashed line is derived from only part of the energy of the spot. The peak of the solid and dashed lines is at 60 nanoseconds and the time delay is also large because object B is behind object a. The x-ray is a pulse in which pulses generated by a part of the light spot striking the object a (hollow dot) and the object B (broken line) are superimposed, that is, a trailing-dot pulse.
As can be seen from fig. 2, the peak time of the x-ray lies between the dashed and circular lines, which means that when a drag point occurs, the position of the drag point is in most cases between the two real objects in front and behind. If the divergence angle of the beam of the radar is large, the coverage of the spot is large, and the number of drag points between two targets increases, in which case a plurality of drag points between the front and rear objects occur, as shown in fig. 3.
In generating point cloud data, the lidar may misinterpret the signal of the tow point as the presence of other target objects between object a and object B, although these points are not actually points on the truly present target object.
The drag-and-drop problem is widely recognized as a common challenge in lidar applications because it reduces the quality of the point cloud data, affecting the recognition and localization of obstacles by the user algorithm. Particularly in indoor mapping application, the problem of drag points is more remarkable, and the problem to be solved is urgent. Therefore, the reduction of the drag point phenomenon has become one of the challenges in the laser radar technology field.
The conventional filtering algorithm of the drag points in the radar point cloud based on the ranging information mainly comprises a distance threshold method and a vector angle method, and the distance threshold method and the vector angle method both utilize the geometric relationship between adjacent scanning points to carry out screening judgment. The distance threshold method is used for identifying isolated drags which cannot be associated with front and rear targets by carrying out threshold clustering on distance measurement values between adjacent scanning points. The vector angle method is used for identifying the dragging point with the angle mutation by calculating the included angle of vectors between adjacent scanning points and setting a threshold value for the included angle.
The existing radar point cloud drag point identification algorithm based on the ranging information mainly realizes the identification of drag points based on the geometric relation between adjacent scanning points, and mainly has the following problems, defects and limitations:
For a radar ranging based on the TOF principle, when the waveform of the received object reflected echo changes, the ranging value of the object is directly affected. As described above, the trailing point is mainly an outlier generated by inaccurate ranging because the light spot irradiates the front and rear targets simultaneously, and the detector receives and superimposes the echoes of the front and rear targets. For each scanning frame of the radar, the scanning angle has a small difference, and the difference has a larger influence on the trailing point condition of the target edge, so that echo waveforms received by the same trailing point in different scanning frames have a small difference, and therefore the ranging information of the trailing point between the front object and the rear object is always fluctuated, and the fluctuation range is larger. The existing drag point identification algorithm based on the ranging information only utilizes the geometric features between two points to judge and identify the drag points, when the distance between the drag points fluctuates, the condition that the threshold value set by the algorithm is met on some drag points and is not met on some drag points can occur, so that the drag point identification algorithm can not identify the drag points stably, and the stability and the robustness of the algorithm are poor.
In addition, the conventional dragging point identification algorithm based on the ranging information is based on the assumption of fixed point numbers when the dragging point identification is carried out, and the identified dragging point or the dragging point and a plurality of left/right scanning points are deleted. Therefore, false deletion can occur in scenes with fewer drags, missing deletion can occur in scenes with more drags, and the accuracy rate and recall rate of algorithm identification can not be guaranteed.
In particular, when multiple drag points occur between the front and rear target objects, the drag points show a geometrical rule very similar to that of a flat wall surface, as shown in fig. 3. In other words, if a flat slope exists between two target objects, the point cloud pattern scanned by the radar cannot be geometrically distinguished into a drag point or a real slope target, and at this time, the drag point recognition algorithm which only considers the ranging information has a chance of deleting the scan point on the real slope target by mistake.
In view of the above-mentioned problems, the present embodiment provides a method, an apparatus, an electronic device, and a readable storage medium for identifying a drag point, where when the to-be-detected radar point cloud is a radar emission light pulse, the light pulse irradiates two edges of a target object that are closer to each other at the same time and returns to the radar point cloud, for each first point in the to-be-detected radar point cloud, a second point and a third point corresponding to the first point are obtained, where the second point and the third point are points adjacent to the first point, the to-be-detected radar point cloud includes a plurality of first points, ranging values and pulse widths of the first point, the second point, and the third point are determined, a first ranging difference value between the first point and the second point is calculated, a second difference value between the first point and the third point is calculated, an average drag point angle between the first point, the second point, and the third point is determined, and the first point is identified based on each ranging value, the first ranging difference value, the average drag point angle, and each pulse width. The invention identifies the dragging points based on the geometric features and the signal features, effectively improves the identification accuracy and recall rate of the dragging points, improves the quality of point cloud, and details the scheme provided by the embodiment.
The embodiment provides an electronic device capable of training a drag point. In one possible implementation, the electronic device may be a user terminal, for example, the electronic device may be, but is not limited to, a laser radar, a server, a smart phone, a Personal computer (PersonalComputer, PC), a tablet computer, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), a Mobile internet device (Mobile INTERNET DEVICE, MID), or the like.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device 100 according to an embodiment of the invention. The electronic device 100 may also include more or fewer components than shown in fig. 4, or have a different configuration than shown in fig. 1. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof.
The electronic device 100 includes a drag point identification means 110, a memory 120 and a processor 130.
The memory 120 and the processor 130 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The drag point identification means 110 comprises at least one software function module which may be stored in the memory 120 in the form of software or firmware (firmware) or which is solidified in the Operating System (OS) of the electronic device 100. The processor 130 is configured to execute executable modules stored in the memory 120, such as software functional modules and computer programs included in the drag point identification device 110.
The Memory 120 may be, but is not limited to, a random access Memory (RandomAccess Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable ProgrammableRead-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable ProgrammableRead-Only Memory, EEPROM), etc. The memory 120 is configured to store a program, and the processor 130 executes the program after receiving an execution instruction.
Referring to fig. 5, fig. 5 is a flowchart of a method for identifying a drag point applied to the electronic device 100 of fig. 4, and the method includes various steps described in detail below.
S201: and acquiring the radar point cloud to be detected.
When the radar point cloud to be detected is the radar emitted light pulse, the light pulse irradiates the edges of two targets close to each other at the same time and returns to the point cloud of the radar.
S202: and acquiring a second point and a third point corresponding to the first point for each first point in the radar point cloud to be detected.
The second point and the third point are points adjacent to the first point, and the radar point cloud to be detected comprises a plurality of first points.
S203: the ranging value and the pulse width of the first, second and third points are determined, respectively.
S204: based on each ranging value, a first ranging difference between the first point and the second point is calculated, and a second ranging difference between the first point and the third point is calculated.
S205: an average drag point angle between the first point, the second point, and the third point is determined.
S206: and carrying out the trailing point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average trailing point angle and each pulse width.
Because the conditions for the drag point are that two targets are needed, and the targets are in a front-back relationship, the light beams emitted by the radar simultaneously irradiate the front target and the back target and return to the radar receiver, the drag point is caused, and the drag point is not formed for a single target. Thus, the method is applicable to a variety of applications. When the obtained radar point cloud to be detected is the radar emitted light pulse, the light pulse irradiates two targets with the positions in a front-back relation and is reflected back to the radar point cloud.
Judging whether dragging points exist in the obtained radar point cloud to be detected, and obtaining to-be-detected points, namely, left and right points, namely, a second point and a third point, of each first point in the radar point cloud to be detected in the horizontal direction, or taking upper and lower points, namely, the second point and the third point, of each first point in the vertical direction.
Specifically, when the radar point cloud to be detected indicates to perform scanning in the vertical direction, a second point and a third point corresponding to the first point in the vertical direction are acquired; and when the radar point cloud to be detected indicates to scan in the horizontal direction, acquiring a second point and a third point corresponding to the first point in the horizontal direction.
And based on the geometric characteristics and the reflectivity characteristics of the first point, the second point and the third point, obtaining the ranging values and pulse widths of the first point, the second point and the third point, the first ranging difference value of the first point and the second point, the second ranging difference value of the first point and the third point and the average towing point angle among the first point, the second point and the third point, and finally identifying the towing point from the radar point cloud to be detected based on the analysis of the geometric characteristics and the reflectivity characteristics.
Based on the ranging values, a first ranging difference between the first point and the second point is calculated, and there are various implementations of calculating the second ranging difference between the first point and the third point, in one implementation, as shown in fig. 6, including the following steps:
s204-1: an absolute value of a first difference between the ranging value of the first point and the ranging value of the second point is calculated.
S204-2: the absolute value of the first difference is taken as a first ranging difference between the first point and the second point.
S204-3: an absolute value of a second difference between the ranging value of the first point and the ranging value of the third point is calculated.
S204-4: the absolute value of the second difference is taken as a second ranging difference between the first point and the third point.
Referring to fig. 7, a schematic diagram of a first point, a second point and a third point is shown, where P 1 is the second point, P 2 is the first point, P 3 is the third point, r 1 is the ranging value of the second point, the ranging value of the second point is the distance between the second point and the radar, r 2 is the ranging value of the first point, the ranging value of the first point is the distance between the first point and the radar, r 3 is the ranging value of the third point, and the ranging value of the third point is the distance between the third point and the radar.
The absolute value of the first difference between r 1 and r 2 is calculated as the first ranging difference between the first point P 2 and the second point P 1, and the absolute value of the second difference between r 3 and r 2 is calculated as the third ranging difference between the first point P 2 and the third point P 3.
There are various implementations of determining the average drag point angle between the first, second and third points, in one implementation, as shown in fig. 8, including the steps of:
s205-1: a first angle between the ranging value of the second point and the ranging value of the first point is determined.
S205-2: based on the magnitude relation between the ranging value of the second point and the ranging value of the first point, the first included angle and the ranging value of the second point, a first dragging point angle between the first point and the second point is calculated.
S205-3: a second angle between the ranging value of the third point and the ranging value of the first point is determined.
S205-4: and calculating a second dragging point angle between the first point and the third point based on the magnitude relation between the ranging value of the third point and the ranging value of the first point, the second included angle and the ranging value of the third point.
S205-5: and calculating the average value of the first dragging point angle and the second dragging point angle as the average dragging point angle among the first point, the second point and the third point.
As shown in FIG. 7, the angle between r 1 and r 2 Is the first included angle between the ranging value of the first point and the ranging value of the second point. Included angle between r 2 and r 3/>Is a second included angle between the ranging value of the first point and the ranging value of the third point.
When the ranging value of the first point is larger than that of the second point, the first dragging point angle is calculated by the following formula:
；
Wherein, For the ranging value of the first point,/>For the distance measurement value of the second point,/>Is a first included angle;
when the distance measurement value of the second point is larger than that of the first point, the first dragging point angle is calculated by the following formula:
。
When the ranging value of the first point is larger than that of the third point, the second dragging point angle is calculated by the following formula:
；
Wherein, For the ranging value of the first point,/>For the ranging value of the third point,/>Is a second included angle;
When the ranging value of the third point is larger than that of the first point, the second dragging point angle is calculated by the following formula:
。
the average drag point angle between the three points is calculated using the following formula: ，/> For the first drag point angle,/> Is the second drag point angle.
There are various implementations of the identifying the trailing point for the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average trailing point angle, and each pulse width, and in one implementation, as shown in fig. 9, the method includes the steps of:
s206-1: each ranging value is compared to a maximum tow point distance threshold value, respectively.
S206-2: and comparing the first ranging difference value with the maximum towing point distance difference value under the condition that each ranging value is smaller than or equal to the maximum towing point distance threshold value.
Comparing the ranging value of the first point, the ranging value of the second point and the ranging value of the third point with a maximum ranging point distance threshold, judging that the first point is a non-ranging point when the ranging value of the first point is larger than the maximum ranging point distance threshold, judging that the first point is a non-ranging point when the ranging value of the second point is larger than the maximum ranging point distance threshold, judging that the first point is a non-ranging point when the ranging value of the third point side is larger than the maximum ranging point distance threshold, acquiring the next first point from the radar point cloud to be detected as a new first point, and executing the operation process of acquiring the second point and the third point corresponding to the new first point to carry out the ranging point identification on the new first point based on each ranging value, the first distance difference value, the second ranging difference value, the average ranging point angle and each pulse width.
S206-3: in the case where the first range difference is less than or equal to the maximum tow-point distance difference, the second range difference is compared to the maximum tow-point distance difference.
The maximum drag point distance difference threshold value is a maximum drag point distance difference threshold value between two targets.
And when the first ranging difference value is larger than the maximum dragging point distance difference value threshold value, judging that the first point is a non-dragging point. And acquiring the next first point from the radar point cloud to be detected as a new first point, and executing the operation process of acquiring the second point and the third point corresponding to the new first point to carry out the drag point identification on the new first point based on each ranging value, the first distance difference value, the second ranging difference value, the average drag point angle and each pulse width.
S206-4: and comparing the average trailing angle with a maximum trailing angle threshold and a minimum trailing angle threshold if the second ranging difference is less than or equal to the maximum trailing distance difference.
And under the condition that the second ranging difference value is larger than the maximum dragger distance difference value, judging that the first point is a non-dragger point, acquiring a new first point from the radar point cloud to be detected, and judging whether the new first point is a dragger point.
S206-5: and calculating a third difference value between the pulse width of the first point and the pulse width of the second point and a fourth difference value between the pulse width of the first point and the pulse width of the third point when the average trailing point angle is larger than the maximum trailing point angle threshold or when the average trailing point angle is smaller than the minimum trailing point angle threshold.
And under the condition that the average dragline point angle is smaller than or equal to the maximum dragline point angle threshold value or under the condition that the average dragline point angle is larger than or equal to the minimum dragline point angle threshold value, determining that the first point is a non-dragline point, acquiring a new first point from the radar point cloud to be detected, and judging whether the new first point is a dragline point.
S206-6: the third difference and the fourth difference are compared with the pull-point pulse width threshold, respectively.
S206-7: and determining the first point as the trailing point in the case that any one of the third difference value and the fourth difference value is larger than the trailing point pulse width threshold value.
And when the third difference value and the fourth difference value are smaller than the dragger pulse threshold, determining that the first point is a non-dragger point, acquiring a new first point from the radar point cloud to be detected, and judging whether the new first point is a dragger point or not.
Referring to fig. 10, an embodiment of the present invention further provides a drag point identifying apparatus 110 applied to the electronic device 100 shown in fig. 1, where the drag point identifying apparatus 110 includes:
An acquisition module 111, configured to acquire a radar point cloud to be detected; acquiring a second point and a third point corresponding to the first point aiming at each first point in the radar point cloud to be detected, wherein when the radar point cloud to be detected is a radar emitting light pulse, the light pulse irradiates to the edges of two targets close to each other at the same time and returns to the point cloud of the radar, and the second point and the third point are points adjacent to the first point;
A determining module 112, configured to determine ranging values and pulse widths of the first, second, and third points, respectively; calculating a first ranging difference between the first point and the second point based on each ranging value, and calculating a second ranging difference between the first point and the third point; determining an average drag point angle between the first, second, and third points;
the identifying module 113 is configured to identify the first point by using the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average point dragging angle, and each pulse width.
The invention also provides an electronic device 100, the electronic device 100 comprising a processor 130 and a memory 120. Memory 120 stores computer-executable instructions that, when executed by processor 130, implement the drag point identification method.
The embodiment of the present invention further provides a computer readable storage medium storing a computer program, which when executed by the processor 130, implements the drag point identification method.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is merely illustrative of various embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention, and the invention is intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. A method of identifying a drag point, the method comprising:
acquiring a radar point cloud to be detected, wherein when the radar point cloud to be detected is a radar emitting light pulse, the light pulse irradiates to the edges of two targets with a relatively short distance at the same time and returns to the radar point cloud;
acquiring a second point and a third point corresponding to the first point aiming at each first point in the radar point cloud to be detected, wherein the second point and the third point are points adjacent to the first point, and the radar point cloud to be detected comprises a plurality of first points;
respectively determining ranging values and pulse widths of the first point, the second point and the third point;
Calculating a first ranging difference between the first point and the second point based on each ranging value, and calculating a second ranging difference between the first point and the third point;
determining an average drag point angle between the first, second, and third points;
and carrying out the trailing point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average trailing point angle and each pulse width.
2. The method of claim 1, wherein the step of calculating a first ranging difference between the first point and the second point and calculating a second ranging difference between the first point and the third point based on each of the ranging values comprises:
Calculating an absolute value of a first difference between the ranging value of the first point and the ranging value of the second point;
Taking the absolute value of the first difference value as a first ranging difference value between the first point and the second point;
calculating an absolute value of a second difference between the ranging value of the first point and the ranging value of the third point;
And taking the absolute value of the second difference value as a second ranging difference value between the first point and the third point.
3. The method of claim 1, wherein the step of obtaining the second and third points corresponding to the first point comprises:
when the radar point cloud to be detected indicates to perform scanning in the vertical direction, acquiring a second point and a third point corresponding to the first point in the vertical direction;
And when the radar point cloud to be detected indicates to scan in the horizontal direction, acquiring a second point and a third point corresponding to the first point in the horizontal direction.
4. The method of claim 1, wherein the step of determining an average drag point angle between the first, second, and third points comprises:
determining a first included angle between the ranging value of the second point and the ranging value of the first point;
Calculating a first dragging point angle between the first point and the second point based on the magnitude relation between the ranging value of the second point and the ranging value of the first point, the first included angle and the ranging value of the second point;
determining a second included angle between the ranging value of the third point and the ranging value of the first point;
Calculating a second dragging point angle between the first point and the third point based on the magnitude relation between the ranging value of the third point and the ranging value of the first point, the second included angle and the ranging value of the third point;
And calculating the average value of the first dragging point angle and the second dragging point angle as the average dragging point angle among the first point, the second point and the third point.
5. The method of claim 4, wherein the first tow-point angle is calculated when the ranging value of the first point is greater than the ranging value of the second point by the following formula:
；
Wherein, For the ranging value of the first point,/>For the distance measurement value of the second point,/>Is a first included angle;
when the ranging value of the second point is larger than that of the first point, the first dragging point angle is calculated by the following formula:
。
6. the method of claim 4, wherein the second tow-point angle is calculated when the ranging value of the first point is greater than the ranging value of the third point by the following formula:
；
Wherein, For the ranging value of the first point,/>For the ranging value of the third point,/>Is a second included angle;
When the ranging value of the third point is greater than the ranging value of the first point, the second dragging point angle is calculated by the following formula:
。
7. the method of claim 2, wherein the step of identifying the first point by the trailing point based on each of the ranging values, the first ranging difference value, the second ranging difference value, the average trailing point angle, and each of the pulse widths comprises:
comparing each ranging value with a maximum towing point distance threshold value respectively;
comparing the first ranging difference value with a maximum towing point distance difference value under the condition that each ranging value is smaller than or equal to the maximum towing point distance threshold value;
Comparing the second ranging difference value with the maximum tow point distance difference value under the condition that the first ranging difference value is smaller than or equal to the maximum tow point distance difference value;
Comparing the average trailing angle with a maximum trailing angle threshold and a minimum trailing angle threshold if the second ranging difference is less than or equal to the maximum trailing distance difference;
Calculating a third difference value of the pulse width of the first point and the pulse width of the second point and a fourth difference value of the pulse width of the first point and the pulse width of the third point when the average trailing point angle is larger than the maximum trailing point angle threshold or when the average trailing point angle is smaller than the minimum trailing point angle threshold;
Comparing the third difference value and the fourth difference value with a dragging point pulse width threshold value respectively;
And determining that the first point is a trailing point when any one of the third difference value and the fourth difference value is greater than the trailing point pulse width threshold.
8. The method of claim 7, wherein the method further comprises:
determining that the first point is not a trailing point if any one of the ranging values is greater than the maximum trailing point distance threshold;
Determining the first point non-trailing point if the first ranging difference is greater than the maximum trailing point distance difference;
and determining that the first point is not a trailing point if the second range difference is greater than the maximum trailing point distance difference.
9. A drag point identification device, the device comprising:
the acquisition module is used for acquiring the radar point cloud to be detected; acquiring a second point and a third point corresponding to the first point aiming at each first point in the radar point cloud to be detected, wherein when the radar point cloud to be detected is a radar emitting light pulse, the light pulse irradiates to the edges of two targets close to each other at the same time and returns to the point cloud of the radar, and the second point and the third point are points adjacent to the first point;
the determining module is used for determining the ranging values and the pulse widths of the first point, the second point and the third point respectively; calculating a first ranging difference between the first point and the second point based on each ranging value, and calculating a second ranging difference between the first point and the third point; determining an average drag point angle between the first, second, and third points;
And the identification module is used for carrying out the drag point identification on the first point based on each ranging value, the first ranging difference value, the second ranging difference value, the average drag point angle and each pulse width.
10. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1-8 when executing the computer program.
11. A readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the method according to any of claims 1-8.
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| CN202410688057.9A CN118244255B (en) | 2024-05-30 | Drag point identification method, device, electronic equipment and readable storage medium |
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