FR3101433B1 - Ground detection method in a point cloud obtained by 3D laser remote sensing - Google Patents

Ground detection method in a point cloud obtained by 3D laser remote sensing Download PDF

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Publication number
FR3101433B1
FR3101433B1 FR1910674A FR1910674A FR3101433B1 FR 3101433 B1 FR3101433 B1 FR 3101433B1 FR 1910674 A FR1910674 A FR 1910674A FR 1910674 A FR1910674 A FR 1910674A FR 3101433 B1 FR3101433 B1 FR 3101433B1
Authority
FR
France
Prior art keywords
remote sensing
value
point
detection method
point cloud
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1910674A
Other languages
French (fr)
Other versions
FR3101433A1 (en
Inventor
Hervé Illy
Thomas Ristorcelli
You Li
Bihan Clément Le
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Priority to FR1910674A priority Critical patent/FR3101433B1/en
Publication of FR3101433A1 publication Critical patent/FR3101433A1/en
Application granted granted Critical
Publication of FR3101433B1 publication Critical patent/FR3101433B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Road Repair (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Procédé de détection du sol dans un nuage de points provenant d’un scanner de télédétection laser (4), caractérisé en ce que le procédé comprend : une étape de calcul de la différence de hauteur (), séparant un premier point () et un deuxième point (),une étape de calcul d’une valeur de hauteur maximale ( en fonction de ladite valeur de distance (, ) du point (p) ; etune étape de comparaison (35) de ladite différence de hauteur () avec ladite valeur de hauteur maximale (pour détecter que le point (p) correspond à une valeur de sol lorsque ladite différence de hauteur () est inférieure ou égale à ladite valeur de hauteur maximale (. Figure à publier avec l’abrégé : Fig. 3Method for detecting the ground in a cloud of points coming from a laser remote sensing scanner (4), characterized in that the method comprises: a step of calculating the difference in height (), separating a first point () and a second point (),a step of calculating a maximum height value ( as a function of said distance value (, ) from the point (p); anda step of comparing (35) said height difference () with said value of maximum height (to detect that the point (p) corresponds to a ground value when said height difference () is less than or equal to said maximum height value (. Figure to be published with the abstract: Fig. 3

FR1910674A 2019-09-27 2019-09-27 Ground detection method in a point cloud obtained by 3D laser remote sensing Active FR3101433B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1910674A FR3101433B1 (en) 2019-09-27 2019-09-27 Ground detection method in a point cloud obtained by 3D laser remote sensing

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1910674 2019-09-27
FR1910674A FR3101433B1 (en) 2019-09-27 2019-09-27 Ground detection method in a point cloud obtained by 3D laser remote sensing

Publications (2)

Publication Number Publication Date
FR3101433A1 FR3101433A1 (en) 2021-04-02
FR3101433B1 true FR3101433B1 (en) 2021-11-26

Family

ID=69172972

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1910674A Active FR3101433B1 (en) 2019-09-27 2019-09-27 Ground detection method in a point cloud obtained by 3D laser remote sensing

Country Status (1)

Country Link
FR (1) FR3101433B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113534193B (en) * 2021-07-19 2024-06-18 京东鲲鹏(江苏)科技有限公司 Method and device for determining target reflection point, electronic equipment and storage medium

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8825260B1 (en) * 2013-07-23 2014-09-02 Google Inc. Object and ground segmentation from a sparse one-dimensional range data
KR102490602B1 (en) * 2015-09-04 2023-01-19 현대모비스 주식회사 Device for recognizing of obstacle around the vehicle and method thereof

Also Published As

Publication number Publication date
FR3101433A1 (en) 2021-04-02

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