CN110457407A - Method and apparatus for handling point cloud data - Google Patents
Method and apparatus for handling point cloud data Download PDFInfo
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- CN110457407A CN110457407A CN201810411396.7A CN201810411396A CN110457407A CN 110457407 A CN110457407 A CN 110457407A CN 201810411396 A CN201810411396 A CN 201810411396A CN 110457407 A CN110457407 A CN 110457407A
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Abstract
The embodiment of the present application discloses the method and apparatus for handling point cloud data.One specific embodiment of this method includes: acquisition road-map, and determines the body of a map or chart information for the range that characterization road-map occupies in the default map for including road-map；Target point cloud data is obtained, and the coordinate value for including based on target point cloud data determines the dot position information of the corresponding points of target point cloud data in the default map；Based on dot position information and body of a map or chart information, determine whether the position of corresponding points is located in road-map；It is located in road-map in response to determining, is based on dot position information, determines whether the position of corresponding points is located in the target area in road-map；It is located in target area in response to determining, target point cloud data is deleted.This embodiment improves the accuracys filtered out to point cloud data, and improve the flexibility of processing point cloud data.
Description
Technical field
The invention relates to field of computer technology, and in particular to the method and apparatus for handling point cloud data.
Background technique
Point cloud filtering is essential step in three dimensional point cloud treatment process, and point can be divided into ground point and non-by it
Millet cake (such as building, trees).The filtering of point cloud is significant to the real-time and accuracy that improve point cloud computing.It is existing
Point cloud filtering method mainly include straight-through filtering, voxel filtering etc., or first a cloud is clustered, according to actual application
Scene filters out the point cloud data of particular category.
Summary of the invention
The embodiment of the present application proposes the method and apparatus for handling point cloud data.
In a first aspect, the embodiment of the present application provides a kind of method for handling point cloud data, this method comprises: obtaining
Road-map, and determine the body of a map or chart letter for the range that characterization road-map occupies in the default map for including road-map
Breath；Target point cloud data is obtained, and the coordinate value for including based on target point cloud data determines target point cloud data on default ground
The dot position information of corresponding points in figure；Based on dot position information and body of a map or chart information, determine corresponding points position whether position
In in road-map；It is located in road-map in response to determining, is based on dot position information, determines whether the position of corresponding points is located at
In target area in road-map；It is located in target area in response to determining, target point cloud data is deleted.
In some embodiments, the range that characterization road-map occupies in the default map for including road-map is determined
Body of a map or chart information, comprising: obtain the coordinate information of road-map in the default map；Road-map is determined as by default big
The grating map of small grid composition；Based on coordinate information, the serial number for the grid that grating map includes is determined；By identified sequence
Number it is determined as characterizing the body of a map or chart information for the range that road-map occupies in the default map for including road-map.
In some embodiments, the coordinate value for including based on target point cloud data determines target point cloud data in default map
In corresponding points dot position information, comprising: based on the coordinate value that target point cloud data include, determine target point cloud data pre-
If the coordinate value of the corresponding points in map；Based on identified coordinate value and default size, determine corresponding points in grating map
Grid serial number；Grid serial number is determined as to the dot position information of the corresponding points of target point cloud data in the default map.
In some embodiments, it is based on dot position information and body of a map or chart information, determines whether the position of corresponding points is located at
In road-map, comprising: determine in the serial number for the grid that grating map includes whether include grid serial number；It is wrapped in response to determining
It includes, determines that the position of corresponding points is located in road-map.
In some embodiments, it is based on dot position information, determines whether the position of corresponding points is located at the mesh in road-map
It marks in region, comprising: determine the serial number for the grid that the target area in road-map includes；Include in response to determining target area
Grid serial number in include grid serial number, determine that the position of corresponding points is located in target area.
In some embodiments, default map is preset three-dimensional point cloud map, and road-map is from three-dimensional point cloud map
Middle extraction, include within the scope of preset coordinate point cloud map area.
Second aspect, the embodiment of the present application provide a kind of for handling the device of point cloud data, which includes: first
Acquiring unit is configured to obtain road-map, and determines characterization road-map in the default map for including road-map
The body of a map or chart information of the range occupied；Second acquisition unit is configured to obtain target point cloud data, and is based on target point
The coordinate value that cloud data include determines the dot position information of the corresponding points of target point cloud data in the default map；First determines list
Member is configured to determine whether the position of corresponding points is located in road-map based on dot position information and body of a map or chart information；The
Two determination units are configured in response to determine in road-map, are based on dot position information, determine that the position of corresponding points is
In the no target area positioned in road-map；Unit is deleted, is configured in response to determine in target area, by target
Point cloud data is deleted.
In some embodiments, first acquisition unit includes: acquisition module, is configured to obtain road-map on default ground
Coordinate information in figure；First determining module is configured to for road-map being determined as the grid being made of the grid for presetting size
Lattice map；Second determining module is configured to determine the serial number for the grid that grating map includes based on coordinate information；Third is true
Cover half block is configured to for identified serial number being determined as characterization road-map and occupies in the default map for including road-map
Range body of a map or chart information.
In some embodiments, second acquisition unit includes: the 4th determining module, is configured to based on target point cloud data
Including coordinate value, determine the coordinate value of the corresponding points of target point cloud data in the default map；5th determining module, is configured
At based on identified coordinate value and default size, grid serial number of the corresponding points in grating map is determined；6th determining module,
It is configured to for grid serial number being determined as the dot position information of the corresponding points of target point cloud data in the default map.
In some embodiments, the first determination unit includes: the 7th determining module, is configured to determine grating map and includes
Grid serial number in whether include grid serial number；8th determining module, being configured in response to determination includes determining corresponding points
Position be located in road-map.
In some embodiments, the second determination unit, comprising: the 9th determining module is configured to determine in road-map
The target area grid that includes serial number；Tenth determining module is configured in response to determine the grid that target area includes
Serial number in include grid serial number, determine that the position of corresponding points is located in target area.
In some embodiments, default map is preset three-dimensional point cloud map, and road-map is from three-dimensional point cloud map
Middle extraction, include within the scope of preset coordinate point cloud map area.
The third aspect, the embodiment of the present application provide a kind of terminal device, which includes: one or more processing
Device；Storage device, for storing one or more programs；When one or more programs are executed by one or more processors, make
Obtain method of the one or more processors realization as described in implementation any in first aspect.
Fourth aspect, the embodiment of the present application provide a kind of computer-readable medium, are stored thereon with computer program, should
The method as described in implementation any in first aspect is realized when computer program is executed by processor.
Method and apparatus provided by the embodiments of the present application for handling point cloud data, by characterization road-map pre-
If the body of a map or chart information of the position in map and the dot position information of target point cloud data are analyzed, target point cloud number is determined
Whether it is located in the target area in the road-map according to corresponding points in the default map, if be located in target area,
Target point cloud data is deleted, to improve the accuracy filtered out to point cloud data, and improves process points cloud number
According to flexibility.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the flow chart according to one embodiment of the method for handling point cloud data of the application；
Fig. 3 is the schematic diagram according to an application scenarios of the method for handling point cloud data of the application；
Fig. 4 is the flow chart according to another embodiment of the method for handling point cloud data of the application；
Fig. 5 is the illustrative diagram according to the grating map of the method for handling point cloud data of the application；
Fig. 6 is the structural schematic diagram according to one embodiment of the device for handling point cloud data of the application；
Fig. 7 is adapted for the structural schematic diagram for the computer system for realizing the terminal device of the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the method for being used to handle point cloud data of the embodiment of the present application or for process points cloud number
According to device exemplary system architecture 100.
As shown in Figure 1, system architecture 100 may include vehicle 101, network 102 and server 103.Wherein, vehicle 101
On be provided with point cloud data acquisition device 1011 (such as laser radar, stereo camera etc.) and terminal device 1012 (such as vehicle
Carry computer, navigator etc.), point cloud data acquisition device 1011 and terminal device 1012 are established logical by the way of wired or wireless
Letter connection.Network 102 between terminal device 1012 and server 103 to provide the medium of communication link.
User can be used terminal device 1012 and be interacted by network 102 with server 103, to receive or send message
Deng.Various telecommunication customer end applications can be installed, such as the application of electronic map class, data processing class are answered on terminal device 1012
With etc..
Terminal device 1012 can be hardware, be also possible to software.When terminal device 1012 is hardware, can be has
Display screen and the various electronic equipments for supporting electronic map to show, including but not limited to vehicle-mounted computer, navigator, intelligent hand
Machine, tablet computer, pocket computer on knee etc..When terminal device 1012 is software, may be mounted at above-mentioned cited
Electronic equipment in.Multiple softwares or software module may be implemented into (such as providing the software of Distributed Services or soft in it
Part module), single software or software module also may be implemented into.It is not specifically limited herein.
Server 103 can be to provide the server of various services, such as to showing electronically on terminal device 1012
Figure provides the backstage map server supported.Backstage map server can provide various types of electronics for terminal device 1012
Map (such as two-dimensional surface map, three-dimensional point cloud map etc.).
It should be noted that for handling the method for point cloud data generally by terminal device provided by the embodiment of the present application
1012 execute, and correspondingly, the device for handling point cloud data is generally positioned in terminal device 1012.
It should be noted that server 103 can be hardware, it is also possible to software.It, can when server 103 is hardware
To be implemented as the distributed server cluster that multiple servers form, individual server also may be implemented into.When server 103 is
When software, multiple softwares or software module (such as providing the software of Distributed Services or software module) may be implemented into,
Also single software or software module may be implemented into.It is not specifically limited herein.
It should be understood that the number of vehicle, point cloud data acquisition device, terminal device, network and server in Fig. 1 is only
It is schematical.According to needs are realized, any number of vehicle, point cloud data acquisition device, terminal device, network can have
And server.Electronic map needed for terminal device is not needed from the case where long-range acquisition, and system architecture 100 can not wrap
Include server 103.
With continued reference to Fig. 2, the stream of one embodiment of the method for handling point cloud data according to the application is shown
Journey 200.The method for being used to handle point cloud data, comprising the following steps:
Step 201, road-map is obtained, and determines that characterization road-map accounts in the default map for including road-map
According to range body of a map or chart information.
In the present embodiment, for handling the executing subject (such as terminal device shown in FIG. 1) of the method for point cloud data
Can be by wired connection mode or radio connection from long-range or from local obtain road-map, and determine characterization road
The body of a map or chart information for the range that road map occupies in the default map for including road-map.Wherein, road-map can wrap
Contained in default map.Default map can be above-mentioned executing subject in advance from long-range (such as server shown in FIG. 1) or from
The electronic map locally obtained.As an example, the electronic map can be used for navigating, road-map can be above-mentioned executing subject
Display screen on real-time display navigation picture, include the image of road in the navigation picture.It should be noted that above-mentioned default
Map can be three-dimensional map, be also possible to two-dimensional map.
In this embodiment, body of a map or chart information may include the coordinate of each angle point of above-mentioned road-map.For example, map
Range information is " (x0, y0), (x1, y1), (x2, y2), (x3, y3) ", wherein (x0, y0) is that the lower left corner of road-map is sat
Mark, (x1, y1) are the bottom right angular coordinate of road-map, and (x2, y2) is the top left co-ordinate of road-map, and (x3, y3) is road
The upper right angular coordinate of map.It should be appreciated that each point when default map is three-dimensional map, in above-mentioned body of a map or chart information
Coordinate can not include the coordinate in the reference axis for characterize height.
Optionally, body of a map or chart information can also include the coordinate and road of the one of angle point of above-mentioned road-map
The length and width of figure.For example, body of a map or chart information can be " (x0, y0), L, W ", wherein (x0, y0) is road-map
Lower-left angular coordinate, L are the lateral length of road-map, and W is the longitudinal width of road-map.
In some optional implementations of the present embodiment, default map can be preset three-dimensional point cloud map, phase
Ying Di, road-map can be map area extracting from three-dimensional point cloud map, comprising the point cloud within the scope of preset coordinate.
As an example, point cloud data may include D coordinates value (x, y, z), wherein D coordinates value is point cloud data on default ground
Coordinate value of the corresponding points in preset three-dimensional cartesian coordinate system in figure, preset coordinate range can be preset height (i.e. z
Value) range, the point cloud data in the altitude range can be used for characterizing road.Then road-map can be comprising the altitude range
The rectangular area of subpoint of the interior point cloud data in the corresponding points in three-dimensional point cloud map in the plane that x-axis and y-axis form.
Step 202, target point cloud data is obtained, and the coordinate value for including based on target point cloud data determines target point cloud
The dot position information of the corresponding points of data in the default map.
In the present embodiment, the available target point cloud data of above-mentioned executing subject, and it is based on target point cloud data packet
The coordinate value included determines the dot position information of the corresponding points of target point cloud data in the default map.In general, target point cloud data
Including coordinate value can be the coordinate values of the corresponding points of target point cloud data in the default map, be also possible to target point cloud number
According to the initial coordinate values in the coordinate system using point cloud data acquisition device shown in FIG. 1 as coordinate origin, turned by coordinate value
Change (such as the coordinate value of above-mentioned corresponding points in the default map can be latitude and longitude value, according to the warp of point cloud data acquisition device
The initial coordinate values of latitude value and target point cloud data carry out coordinate value conversion), it can be by the initial coordinate of target point cloud data
Value is converted to the coordinate value of corresponding points in the default map.
Wherein, dot position information can be used for characterizing the position of the corresponding points of target point cloud data in the default map.Make
For example, dot position information can be the coordinate value of above-mentioned corresponding points in the default map, can also be characterization comprising above-mentioned right
The information of the grid region of size should put, default.It should be appreciated that above-mentioned corresponding points exist when default map is three-dimensional map
Coordinate value in default map can be D coordinates value, be also possible to two-dimensional coordinate value (such as the coordinate of removal characterization height
Coordinate value after value), correspondingly, above-mentioned grid region can be 3 d grid region, be also possible to two-dimensional grid region.
Step 203, it is based on dot position information and body of a map or chart information, determines whether the position of corresponding points is located at road-map
It is interior.
In the present embodiment, based on the point confidence determined in the body of a map or chart information and step 202 obtained in step 201
Breath, executing subject can be based on dot position information and body of a map or chart information, determine whether the position of above-mentioned corresponding points is located at road
In map.As an example it is supposed that body of a map or chart information is " (x0, y0), L1, W1 ", wherein (x0, y0) is a left side for road-map
Lower angular coordinate, L1 are the lateral length of road-map, and W1 is the longitudinal width of road-map.Assuming that dot position information be " (x1,
Y1) ", wherein (x1, y1) is the coordinate value of the corresponding points of target point cloud data in the default map, if x0≤x1≤x0+L1
And y0≤y1≤y0+W1, it is determined that the position of above-mentioned corresponding points is located in road-map.
Step 204, in response to determine be located at road-map in, be based on dot position information, determine corresponding points position whether
In the target area in road-map.
In the present embodiment, above-mentioned executing subject can be located at road-map in response to the position of the above-mentioned corresponding points of determination
It is interior, it is based on dot position information, determines whether the position of corresponding points is located in the target area in road-map.Wherein, target area
Domain can be the pre-set map area in above-mentioned road-map, for example, it is assumed that road-map includes carriageway image, people's row
Road image and greenbelt image, then above-mentioned target area can be carriageway image.Continue the example of step 203, it is assumed that be used for table
The information for levying target area is " (x2, y2), L2, W2 ", wherein (x2, y2) is the lower-left angular coordinate of target area, and L2 is target
The lateral length in region, W2 are the longitudinal width of target area.If x2≤x1≤x2+L2 and y2≤y1≤y2+W2, it is determined that
The position of above-mentioned corresponding points is located in target area.
Step 205, it is located in target area in response to determining, target point cloud data is deleted.
In this embodiment, above-mentioned executing subject can be located in target area in response to determining, target point cloud data is deleted
It removes.As an example it is supposed that target area characterization road on lane region, when vehicle as shown in Figure 1 on lane when driving,
There is also other vehicles on lane, the point cloud data that above-mentioned executing subject can will characterize the position of other vehicles is deleted, in this way
Other vehicles can be determined as to the misjudgment of vehicle-surroundings environment caused by barrier to avoid above-mentioned executing subject, thus
Improve the accuracy that road Identification is carried out based on point cloud data.
It is one of the application scenarios of the method according to the present embodiment for handling point cloud data with continued reference to Fig. 3, Fig. 3
Schematic diagram.In the application scenarios of Fig. 3, terminal device 301, terminal device 301 are just provided on vehicle driving on the road
Screen on real-time display road-map 302.Wherein, icon 3021 characterizes the position of current vehicle traveling, 3022-3025 difference
Greenbelt, left lateral lane, right lane, pavement on characterization road.Terminal device 301 determines characterization road-map first
Body of a map or chart information (such as the road-map of 302 ranges occupied in default map (such as electronic map for navigation)
Four intersection points coordinate value).Then, terminal device 301 obtains target point cloud data (as the dot 3026 in Fig. 3 characterizes
Point cloud data), and determine dot position information (such as the seat of corresponding points of target point cloud data corresponding points in the default map
Scale value).Then, terminal device 301 determines the position of corresponding points in response to determining that the position of corresponding points is located in road-map 302
It sets and whether is located in the target area (left lateral lane 3023 and right lane 3024 in such as Fig. 3) in road-map.Finally, eventually
End equipment 301 deletes target point cloud data in response to determining that corresponding points are located in target area.It is above-mentioned each by being performed a plurality of times
A step, corresponding points can be located at the deletion of the point cloud data in target area by terminal device 301, and is retained corresponding points and be located at mesh
Mark the point cloud data outside region.
The method provided by the above embodiment of the application passes through the ground of the position to characterization road-map in the default map
The dot position information of figure range information and target point cloud data is analyzed, and determines pair of target point cloud data in the default map
It should put and whether be located in the target area in road-map, if be located in target area, target point cloud data is deleted, thus
The accuracy filtered out to point cloud data is improved, and improves the flexibility of processing point cloud data.
With further reference to Fig. 4, it illustrates the processes 400 of another embodiment of the method for handling point cloud data.
This is used to handle the process 400 of the method for point cloud data, comprising the following steps:
Step 401, road-map is obtained, and obtains the coordinate information of road-map in the default map.
In the present embodiment, it is (such as shown in FIG. 1 to run electronic equipment thereon for the method for handling point cloud data
Terminal device) can by wired connection mode or radio connection from long-range or from local obtain road-map, and
Obtain the coordinate information of road-map in the default map.Wherein, road-map may include in default map.Above-mentioned coordinate
Information can be used for characterizing road-map in the position of default map, for example, coordinate information can be each angle of road-map
Coordinate of the point in default map.As an example, default map can be above-mentioned executing subject in advance from long-range (such as Fig. 1 institute
The server shown) or from the electronic map locally obtained, which can be used for navigating.Road-map can be above-mentioned hold
The navigation picture of real-time display on the display screen of row main body includes the image of road in the navigation picture.On it should be noted that
Stating default map can be three-dimensional map, be also possible to two-dimensional map.
Step 402, road-map is determined as the grating map being made of the grid for presetting size.
In the present embodiment, above-mentioned executing subject can divide road-map, obtain the grid by presetting size
The grating map of composition.It should be noted that road-map can be three-dimensional road when above-mentioned default map is three-dimensional map
Map in the map projection to two-dimensional surface of road, correspondingly, grating map are two-dimensional grid map.
Step 403, it is based on coordinate information, determines the serial number for the grid that grating map includes.
In the present embodiment, above-mentioned executing subject can be based on above-mentioned coordinate information, determine the grid that grating map includes
Serial number.As an example, the maximum value of the serial number of grid can be calculated in above-mentioned executing subject according to following formula:
Imax=(xmax-xmin)/r+[(ymax-ymin)/r] × L (1),
Wherein, ImaxFor the maximum value of the serial number of grid, xmax、xminRespectively x of the grating map in above-mentioned default map
Maximum coordinate value among and min coordinates value on axis, ymax、yminRespectively grating map in the y-axis in above-mentioned default map most
Global coordinate value and min coordinates value, r are the side length of single square grid, and L is the quantity of every a line grid in grating map.
Wherein, (xmax-xmin)/r and (ymax-yminThe resulting result of)/r retains integer part respectively.
As an example, as shown in fig. 5, it is assumed that r=1 meters, L=4 (including incomplete grid), then grating map
The serial number 0-19 of the 501 each grids for being included.
Step 404, it is determined as identified serial number to characterize road-map accounting in the default map for including road-map
According to range body of a map or chart information.
In the present embodiment, based on the serial number determined in step 403, above-mentioned executing subject can be true by identified serial number
It is set to the body of a map or chart information for the range that characterization road-map occupies in the default map for including road-map.Continue such as Fig. 5
Shown in illustrate, body of a map or chart information can be identified each serial number, i.e. 0-19.
Step 405, target point cloud data, and the coordinate value for including based on target point cloud data are obtained, determines target point
The coordinate value of the corresponding points of cloud data in the default map.
In the present embodiment, the available target point cloud data of above-mentioned executing subject, and it is based on target point cloud data packet
The coordinate value included determines the coordinate value of the corresponding points of target point cloud data in the default map.In general, target point cloud data include
Coordinate value can be the coordinate values of the corresponding points of target point cloud data in the default map, be also possible to target point cloud data and exist
Using point cloud data acquisition device shown in FIG. 1 as the initial coordinate values in the coordinate system of coordinate origin, (example is converted by coordinate value
Coordinate value conversion is such as carried out according to the latitude and longitude value of point cloud data acquisition device and the initial coordinate values of target point cloud data), it can
The initial coordinate values of target point cloud data to be converted to the coordinate value of corresponding points in the default map.
Step 406, based on identified coordinate value and default size, grid sequence of the corresponding points in grating map is determined
Number.
In the present embodiment, above-mentioned executing subject can determine corresponding points based on identified coordinate value and default size
Grid serial number in grating map.As an example, grid serial number of the corresponding points of target point cloud data in grating map can
To be calculated by following formula:
I=(x-xmin)/r+[(y-ymin)/r] × L (2),
Wherein, I is the grid serial number of the corresponding points of target point cloud data, and x, y are respectively the corresponding points of target point cloud data
X-axis coordinate and y-axis coordinate in grating map, xmin、yminRespectively grating map is in the x-axis in above-mentioned default map
Min coordinates value in min coordinates value and y-axis, r are the side length of single square grid, and L is every a line grid in grating map
The quantity of lattice.Wherein, (x-xmin)/r and (y-yminThe resulting result of)/r retains integer part respectively.
Continue citing as shown in Figure 5, it is assumed that the coordinate origin (x of grating mapmin,ymin) it is (0,0) target point cloud number
According to coordinate of the corresponding points 502 in grating map 501 be (2.5,3.5), then the grid of the corresponding points 502 of target point cloud data
Serial number 14.
Step 407, grid serial number is determined as to the dot position information of the corresponding points of target point cloud data in the default map.
In the present embodiment, the grid serial number that step 406 determines can be determined as target point cloud number by above-mentioned executing subject
According to the dot position information of corresponding points in the default map.Continue citing as shown in Figure 5, target point cloud data corresponding points
Dot position information can be set to numerical value 14.By this step, the information of the position of characterization point can be turned by two-dimensional coordinate
It is changed to one-dimensional serial number, memory space can be saved in this way, reduces the complexity of processing point cloud data.
Step 408, it is based on dot position information and body of a map or chart information, determines whether the position of corresponding points is located at road-map
It is interior.
In the present embodiment, step 408 and the step 203 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
In some optional implementations of the present embodiment, above-mentioned executing subject can determine correspondence in accordance with the following steps
Whether the position of point is located in road-map:
Firstly, whether determine in the serial number for the grid that grating map includes includes grid serial number.Then, it is wrapped in response to determining
It includes, determines that the position of corresponding points is located in road-map.Continue citing as shown in Figure 5, the corresponding points of target point cloud data
Grid serial number 14, less than the maximum value 19 of the serial number of the grid in grating map, it is determined that the corresponding points of target point cloud data
Position be located in road-map.
Step 409, in response to determine be located at road-map in, be based on dot position information, determine corresponding points position whether
In the target area in road-map.
In the present embodiment, step 409 and the step 204 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
In some optional implementations of the present embodiment, above-mentioned executing subject can determine correspondence in accordance with the following steps
In the target area whether position of point is located in road-map: firstly, determining the grid that the target area in road-map includes
The serial number of lattice.Then, include grid serial number in response to determining target area in the serial number for the grid for including, determine the position of corresponding points
Setting in target area.Continue citing as shown in Figure 5, it is assumed that target area 503 utilizes above-mentioned formula for characterizing lane
2, the serial number for the grid that target area includes is calculated are as follows: 1,2,5,6,9,10,13,14,17,18, including target point cloud number
According to corresponding points 502 where grid serial number 14, it is determined that the position of the corresponding points of target point cloud data is located at target area
It is interior.
Step 410, it is located in target area in response to determining, target point cloud data is deleted.
In the present embodiment, step 410 and the step 205 in Fig. 2 corresponding embodiment are almost the same, and which is not described herein again.
Figure 4, it is seen that being used to handle point cloud data in the present embodiment compared with the corresponding embodiment of Fig. 2
The process 400 of method highlights the step of road-map is determined as grating map, and determines target point based on grating map
Whether the corresponding points of cloud data in the default map are located at the step in target area.The scheme of the present embodiment description can as a result,
More rapidly to filter out to point cloud data, the flexibility of processing point cloud data is increased.
With further reference to Fig. 6, as the realization to method shown in above-mentioned each figure, this application provides one kind to be used for process points
One embodiment of the device of cloud data, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, which specifically may be used
To be applied in various electronic equipments.
As shown in fig. 6, the present embodiment includes: first acquisition unit 601, quilt for handling the device 600 of point cloud data
It is configured to obtain road-map, and determines the range that characterization road-map occupies in the default map for including road-map
Body of a map or chart information；Second acquisition unit 602 is configured to obtain target point cloud data, and is based on target point cloud data packet
The coordinate value included determines the dot position information of the corresponding points of target point cloud data in the default map；First determination unit 603, quilt
It is configured to determine whether the position of corresponding points is located in road-map based on dot position information and body of a map or chart information；Second really
Order member 604 is configured in response to determine in road-map, is based on dot position information, determines that the position of corresponding points is
In the no target area positioned in road-map；Unit 605 is deleted, is configured in response to determine in target area, it will
Target point cloud data is deleted.
In the present embodiment, above-mentioned first acquisition unit 601 can pass through wired connection mode or radio connection
From long-range or from local obtain road-map, and determine that characterization road-map occupies in the default map for including road-map
Range body of a map or chart information.Wherein, road-map may include in default map.Default map can be above-mentioned first
Acquiring unit 601 is in advance from long-range (such as server shown in FIG. 1) or from the electronic map locally obtained.In this embodiment,
Body of a map or chart information may include the coordinate of each angle point of above-mentioned road-map.Optionally, body of a map or chart information can also wrap
Include the coordinate of one of angle point of above-mentioned road-map and the length and width of road-map.
In the present embodiment, the available target point cloud data of second acquisition unit 602, and it is based on target point cloud data
Including coordinate value determine the dot position informations of the corresponding points of target point cloud data in the default map.In general, target point cloud number
The coordinate value that can be the corresponding points of target point cloud data in the default map according to the coordinate value for including is also possible to target point cloud
Initial coordinate values of the data in the coordinate system using point cloud data acquisition device shown in FIG. 1 as coordinate origin, pass through coordinate value
Conversion (such as the coordinate value of above-mentioned corresponding points in the default map can be latitude and longitude value, according to point cloud data acquisition device
Latitude and longitude value and the initial coordinate values of target point cloud data carry out coordinate value conversion), it can be by the initial seat of target point cloud data
Scale value is converted to the coordinate value of corresponding points in the default map.Wherein, dot position information can be used for characterizing target point cloud number
According to the position of corresponding points in the default map.As an example, dot position information can be above-mentioned corresponding points in the default map
Coordinate value, can also be the information of grid region of the characterization comprising above-mentioned corresponding points, default sizes.
In the present embodiment, the first determination unit 603 can be based on dot position information and body of a map or chart information, determine above-mentioned
Whether the position of corresponding points is located in road-map.As an example it is supposed that body of a map or chart information be " (x0, y0), L1, W1 ",
In, (x0, y0) is the lower-left angular coordinate of road-map, and L1 is the lateral length of road-map, and W1 is the longitudinal wide of road-map
Degree.Assuming that dot position information is " (x1, y1) ", wherein (x1, y1) is the corresponding points of target point cloud data in the default map
Coordinate value, if x0≤x1≤x0+L1 and y0≤y1≤y0+W1, it is determined that the position of above-mentioned corresponding points is located in road-map.
In the present embodiment, the second determination unit 604 can be in response to the position of the above-mentioned corresponding points of determination with being located at road
In figure, it is based on dot position information, determines whether the position of corresponding points is located in the target area in road-map.Wherein, target
Region can be the pre-set map area in above-mentioned road-map, for example, it is assumed that road-map includes carriageway image, people
Trade image and greenbelt image, then above-mentioned target area can be carriageway image.As an example it is supposed that for characterizing target area
The information in domain is " (x2, y2), L2, W2 ", wherein (x2, y2) is the lower-left angular coordinate of target area, and L2 is the cross of target area
To length, W2 is the longitudinal width of target area.If x2≤x1≤x2+L2 and y2≤y1≤y2+W2, it is determined that above-mentioned correspondence
The position of point is located in target area.
In the present embodiment, deleting unit 605 can be located in target area in response to determining, target point cloud data is deleted
It removes.As an example it is supposed that the lane region on the characterization road of target area, when a card occurs in vehicle front as shown in Figure 1
Che Shi, the point cloud data that above-mentioned deletion unit 605 can will characterize the position of truck are deleted, in this way can be to avoid above-mentioned apparatus
600 are determined as truck the misjudgment of vehicle-surroundings environment caused by barrier, thus improve based on point cloud data into
The accuracy of row road Identification.
In some optional implementations of the present embodiment, first acquisition unit 601 may include: to obtain module (figure
In be not shown), be configured to obtain the coordinate information of road-map in the default map；First determining module (is not shown in figure
Out), it is configured to for road-map being determined as the grating map being made of the grid for presetting size；Second determining module is (in figure
It is not shown), it is configured to determine the serial number for the grid that grating map includes based on coordinate information；Third determining module is (in figure not
Show), it is configured to for identified serial number being determined as characterization road-map and is occupied in the default map for including road-map
Range body of a map or chart information.
In some optional implementations of the present embodiment, second acquisition unit 602 may include: the 4th determining module
(not shown) is configured to the coordinate value for including based on target point cloud data, determines target point cloud data in default map
In corresponding points coordinate value；5th determining module (not shown) is configured to based on identified coordinate value and presets
Size determines grid serial number of the corresponding points in grating map；6th determining module (not shown) is configured to grid
Serial number is determined as the dot position information of the corresponding points of target point cloud data in the default map.
In some optional implementations of the present embodiment, the first determination unit 603 may include: the 7th determining module
Whether (not shown), being configured to determine in the serial number for the grid that grating map includes includes grid serial number；8th determines
Module (not shown), being configured in response to determination includes determining that the position of corresponding points is located in road-map.
In some optional implementations of the present embodiment, the second determination unit 604 may include: the 9th determining module
(not shown), the serial number for the grid that the target area being configured to determine in road-map includes；Tenth determining module (figure
In be not shown), be configured in response in the serial number for determining the target area grid that includes include grid serial number, determine corresponding points
Position be located in target area.
In some optional implementations of the present embodiment, default map can be preset three-dimensional point cloud map, road
Road map can be map area extracting from three-dimensional point cloud map, comprising the point cloud within the scope of preset coordinate.
The device provided by the above embodiment of the application passes through the ground of the position to characterization road-map in the default map
The dot position information of figure range information and target point cloud data is analyzed, and determines pair of target point cloud data in the default map
It should put and whether be located in the target area in road-map, if be located in target area, target point cloud data is deleted, thus
The accuracy filtered out to point cloud data is improved, and improves the flexibility of processing point cloud data.
Below with reference to Fig. 7, it illustrates the computer systems 700 for the terminal device for being suitable for being used to realize the embodiment of the present application
Structural schematic diagram.Terminal device shown in Fig. 7 is only an example, function to the embodiment of the present application and should not use model
Shroud carrys out any restrictions.
As shown in fig. 7, computer system 700 includes central processing unit (CPU) 701, it can be read-only according to being stored in
Program in memory (ROM) 702 or be loaded into the program in random access storage device (RAM) 703 from storage section 708 and
Execute various movements appropriate and processing.In RAM 703, also it is stored with system 700 and operates required various programs and data.
CPU 701, ROM 702 and RAM 703 are connected with each other by bus 704.Input/output (I/O) interface 705 is also connected to always
Line 704.
I/O interface 705 is connected to lower component: the importation 706 including touch screen, key etc.；Including liquid crystal display
The output par, c 707 of device (LCD) and loudspeaker etc.；Storage section 708 including hard disk etc.；And including such as LAN card, tune
The communications portion 709 of the network interface card of modulator-demodulator etc..Communications portion 709 executes mailing address via the network of such as internet
Reason.Driver 710 is also connected to I/O interface 705 as needed.Detachable media 711, such as disk, CD, magneto-optic disk, half
Conductor memory etc. is mounted on as needed on driver 710, in order to as needed from the computer program read thereon
It is mounted into storage section 708.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communications portion 709, and/or from detachable media
711 are mounted.When the computer program is executed by central processing unit (CPU) 701, limited in execution the present processes
Above-mentioned function.It should be noted that computer-readable medium described herein can be computer-readable signal media or
Computer-readable medium either the two any combination.Computer-readable medium for example can be --- but it is unlimited
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any above combination.It calculates
The more specific example of machine readable medium can include but is not limited to: electrical connection, portable meter with one or more conducting wires
Calculation machine disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable programmable read only memory
(EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In this application, computer-readable medium, which can be, any includes or storage program has
Shape medium, the program can be commanded execution system, device or device use or in connection.And in the application
In, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, wherein
Carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to electric
Magnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Jie
Any computer-readable medium other than matter, the computer-readable medium can be sent, propagated or transmitted for being held by instruction
Row system, device or device use or program in connection.The program code for including on computer-readable medium
It can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. or above-mentioned any conjunction
Suitable combination.
The calculating of the operation for executing the application can be write with one or more programming languages or combinations thereof
Machine program code, described program design language include object oriented program language-such as Java, Smalltalk, C+
+, it further include conventional procedural programming language-such as " C " language or similar programming language.Program code can
Fully to execute, partly execute on the user computer on the user computer, be executed as an independent software package,
Part executes on the remote computer or executes on a remote computer or server completely on the user computer for part.
In situations involving remote computers, remote computer can pass through the network of any kind --- including local area network (LAN)
Or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize Internet service
Provider is connected by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
It includes first acquisition unit, second acquisition unit, the first determination unit, the second determination unit and deletes unit.Wherein, these units
Title do not constitute the restriction to the unit itself under certain conditions, for example, first acquisition unit is also described as
" road-map is obtained, and determines and characterizes the model that the road-map occupies in the default map for including the road-map
The unit for the body of a map or chart information enclosed ".
As on the other hand, present invention also provides a kind of computer-readable medium, which be can be
Included in terminal device described in above-described embodiment；It is also possible to individualism, and without in the supplying terminal device.
Above-mentioned computer-readable medium carries one or more program, when said one or multiple programs are held by the terminal device
When row, so that the terminal device: obtaining road-map, and determine characterization road-map in the default map including road-map
In the body of a map or chart information of range that occupies；Obtain target point cloud data, and the coordinate value for including based on target point cloud data
Determine the dot position information of the corresponding points of target point cloud data in the default map；Believed based on dot position information and body of a map or chart
Breath, determines whether the position of corresponding points is located in road-map；It is located in road-map in response to determining, is based on point confidence
Breath, determines whether the position of corresponding points is located in the target area in road-map；It is located in target area in response to determining, it will
Target point cloud data is deleted.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (14)
1. a kind of method for handling point cloud data, comprising:
Road-map is obtained, and determines and characterizes what the road-map occupied in the default map for including the road-map
The body of a map or chart information of range；
Target point cloud data is obtained, and the coordinate value for including based on the target point cloud data determines the target point cloud data
The dot position information of corresponding points in the default map；
Based on the dot position information and the body of a map or chart information, determine whether the position of the corresponding points is located at the road
In map；
In response to determine be located at the road-map in, be based on the dot position information, determine the corresponding points position whether
In the target area in the road-map；
It is located in the target area in response to determining, the target point cloud data is deleted.
2. according to the method described in claim 1, wherein, the determining characterization road-map is including the road-map
Default map in the body of a map or chart information of range that occupies, comprising:
Obtain the coordinate information of the road-map in the default map；
The road-map is determined as to the grating map being made of the grid for presetting size；
Based on the coordinate information, the serial number for the grid that the grating map includes is determined；
Identified serial number is determined as to characterize what the road-map occupied in the default map for including the road-map
The body of a map or chart information of range.
3. according to the method described in claim 2, wherein, the coordinate value for including based on the target point cloud data determines institute
State the dot position information of corresponding points of the target point cloud data in the default map, comprising:
Based on the coordinate value that the target point cloud data include, pair of the target point cloud data in the default map is determined
The coordinate value that should be put；
Based on identified coordinate value and the default size, grid sequence of the corresponding points in the grating map is determined
Number；
The grid serial number is determined as to the dot position information of corresponding points of the target point cloud data in the default map.
4. it is described to be based on the dot position information and the body of a map or chart information according to the method described in claim 3, wherein,
Determine whether the position of the corresponding points is located in the road-map, comprising:
Determine in the serial number for the grid that the grating map includes whether include the grid serial number；
It include determining that the position of the corresponding points is located in the road-map in response to determination.
5. it is described to be based on the dot position information according to the method described in claim 4, wherein, determine the position of the corresponding points
It sets and whether is located in the target area in the road-map, comprising:
Determine the serial number for the grid that the target area in the road-map includes；
Include the grid serial number in response to the determination target area in the serial number for the grid for including, determines the corresponding points
Position is located in the target area.
6. method described in one of -5 according to claim 1, wherein the default map is preset three-dimensional point cloud map, institute
Stating road-map is map area extract from the three-dimensional point cloud map, comprising the point cloud within the scope of preset coordinate.
7. a kind of for handling the device of point cloud data, comprising:
First acquisition unit is configured to obtain road-map, and determines that characterizing the road-map is including the road
The body of a map or chart information of the range occupied in the default map of map；
Second acquisition unit is configured to obtain target point cloud data, and the coordinate for including based on the target point cloud data
Value determines the dot position information of corresponding points of the target point cloud data in the default map；
First determination unit is configured to determine the corresponding points based on the dot position information and the body of a map or chart information
Position whether be located in the road-map；
Second determination unit is configured in response to determine in the road-map, is based on the dot position information, determines
Whether the position of the corresponding points is located in the target area in the road-map；
Unit is deleted, is configured in response to determine in the target area, the target point cloud data is deleted.
8. device according to claim 7, wherein the first acquisition unit includes:
Module is obtained, is configured to obtain the coordinate information of the road-map in the default map；
First determining module is configured to for the road-map being determined as the grating map being made of the grid for presetting size；
Second determining module is configured to determine the serial number for the grid that the grating map includes based on the coordinate information；
Third determining module is configured to be determined as identified serial number to characterize the road-map including the road
The body of a map or chart information of the range occupied in the default map of figure.
9. device according to claim 8, wherein the second acquisition unit includes:
4th determining module is configured to the coordinate value for including based on the target point cloud data, determines the target point cloud number
According to the coordinate value of the corresponding points in the default map；
5th determining module is configured to determine the corresponding points in institute based on identified coordinate value and the default size
State the grid serial number in grating map；
6th determining module is configured to the grid serial number being determined as the target point cloud data in the default map
Corresponding points dot position information.
10. device according to claim 9, wherein first determination unit includes:
Whether 7th determining module, being configured to determine in the serial number for the grid that the grating map includes includes the grid sequence
Number；
8th determining module, being configured in response to determination includes determining that the position of the corresponding points is located at the road-map
It is interior.
11. device according to claim 10, wherein second determination unit, comprising:
9th determining module, the serial number for the grid that the target area being configured to determine in the road-map includes；
Tenth determining module is configured in response to include the grid in the serial number for the grid for determining that the target area includes
Serial number determines that the position of the corresponding points is located in the target area.
12. the device according to one of claim 7-11, wherein the default map is preset three-dimensional point cloud map,
The road-map is map area extract from the three-dimensional point cloud map, comprising the point cloud within the scope of preset coordinate.
13. a kind of terminal device, comprising:
One or more processors；
Storage device is stored thereon with one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as method as claimed in any one of claims 1 to 6.
14. a kind of computer-readable medium, is stored thereon with computer program, wherein the realization when program is executed by processor
Such as method as claimed in any one of claims 1 to 6.
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