CN110728693B - 大规模行车路面三维点云的生成方法及系统 - Google Patents
大规模行车路面三维点云的生成方法及系统 Download PDFInfo
- Publication number
- CN110728693B CN110728693B CN201910931149.4A CN201910931149A CN110728693B CN 110728693 B CN110728693 B CN 110728693B CN 201910931149 A CN201910931149 A CN 201910931149A CN 110728693 B CN110728693 B CN 110728693B
- Authority
- CN
- China
- Prior art keywords
- point cloud
- cloud data
- coordinate system
- vehicle
- data
- 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
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (15)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910931149.4A CN110728693B (zh) | 2019-09-27 | 2019-09-27 | 大规模行车路面三维点云的生成方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910931149.4A CN110728693B (zh) | 2019-09-27 | 2019-09-27 | 大规模行车路面三维点云的生成方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110728693A CN110728693A (zh) | 2020-01-24 |
CN110728693B true CN110728693B (zh) | 2022-12-23 |
Family
ID=69219602
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910931149.4A Active CN110728693B (zh) | 2019-09-27 | 2019-09-27 | 大规模行车路面三维点云的生成方法及系统 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110728693B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112232247A (zh) * | 2020-10-22 | 2021-01-15 | 深兰人工智能(深圳)有限公司 | 可行驶区域路面提取方法和装置 |
CN112581579B (zh) * | 2020-12-22 | 2022-11-18 | 同济大学 | 一种磁浮滑行面点云数据提取方法 |
CN113945219B (zh) * | 2021-09-28 | 2024-06-11 | 武汉万集光电技术有限公司 | 动态地图生成方法、系统、可读存储介质及终端设备 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106969763A (zh) * | 2017-04-07 | 2017-07-21 | 百度在线网络技术(北京)有限公司 | 用于确定无人驾驶车辆的偏航角的方法和装置 |
CN107167090A (zh) * | 2017-03-13 | 2017-09-15 | 深圳市速腾聚创科技有限公司 | 车辆外廓尺寸测量方法及系统 |
CN108267141A (zh) * | 2016-12-30 | 2018-07-10 | 乐视汽车(北京)有限公司 | 道路点云数据处理系统 |
CN108871353A (zh) * | 2018-07-02 | 2018-11-23 | 上海西井信息科技有限公司 | 路网地图生成方法、系统、设备及存储介质 |
CN109297510A (zh) * | 2018-09-27 | 2019-02-01 | 百度在线网络技术(北京)有限公司 | 相对位姿标定方法、装置、设备及介质 |
-
2019
- 2019-09-27 CN CN201910931149.4A patent/CN110728693B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108267141A (zh) * | 2016-12-30 | 2018-07-10 | 乐视汽车(北京)有限公司 | 道路点云数据处理系统 |
CN107167090A (zh) * | 2017-03-13 | 2017-09-15 | 深圳市速腾聚创科技有限公司 | 车辆外廓尺寸测量方法及系统 |
CN106969763A (zh) * | 2017-04-07 | 2017-07-21 | 百度在线网络技术(北京)有限公司 | 用于确定无人驾驶车辆的偏航角的方法和装置 |
CN108871353A (zh) * | 2018-07-02 | 2018-11-23 | 上海西井信息科技有限公司 | 路网地图生成方法、系统、设备及存储介质 |
CN109297510A (zh) * | 2018-09-27 | 2019-02-01 | 百度在线网络技术(北京)有限公司 | 相对位姿标定方法、装置、设备及介质 |
Also Published As
Publication number | Publication date |
---|---|
CN110728693A (zh) | 2020-01-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110728693B (zh) | 大规模行车路面三维点云的生成方法及系统 | |
CN107505644B (zh) | 基于车载多传感器融合的三维高精度地图生成系统及方法 | |
CN110146910B (zh) | 一种基于gps与激光雷达数据融合的定位方法及装置 | |
Wedel et al. | B-spline modeling of road surfaces with an application to free-space estimation | |
CN112162297B (zh) | 一种剔除激光点云地图中动态障碍伪迹的方法 | |
CN109556617A (zh) | 一种自动建图机器人的地图要素提取方法 | |
CN109633665A (zh) | 交通场景稀疏激光点云拼接方法 | |
CN109872329A (zh) | 一种基于三维激光雷达的地面点云快速分割方法 | |
CN114323050B (zh) | 车辆定位方法、装置和电子设备 | |
CN111354083B (zh) | 一种基于原始激光点云的递进式建筑物提取方法 | |
CN110930365B (zh) | 一种交通场景下的正交消失点检测方法 | |
CN103542868A (zh) | 基于角度和强度的车载激光点云噪点自动去除方法 | |
CN114485698B (zh) | 一种交叉路口引导线生成方法及系统 | |
WO2023065342A1 (zh) | 车辆及其定位方法、装置、设备、计算机可读存储介质 | |
CN110927762A (zh) | 一种定位修正方法、装置及系统 | |
CN115265493B (zh) | 一种基于非标定相机的车道级定位方法及装置 | |
JP7010535B2 (ja) | 情報処理装置 | |
CN114694106A (zh) | 道路检测区域的提取方法、装置、计算机设备和存储介质 | |
CN110927765B (zh) | 激光雷达与卫星导航融合的目标在线定位方法 | |
CN114092658A (zh) | 一种高精度的地图构建方法 | |
CN114119682A (zh) | 一种激光点云和图像配准方法及配准系统 | |
KR102534031B1 (ko) | 도로 기호 및 문자 추출방법 | |
CN112180396B (zh) | 一种激光雷达定位及地图创建方法 | |
Guo et al. | Novel Trajectory Optimization Algorithm of Vehicle-borne LiDAR Mobile Measurement System. | |
CN114897967B (zh) | 一种面向挖掘装备自主作业的物料形态识别方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20201113 Address after: Unit 908, 9 / F, building 1, No. 58, Xiangke Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 200123 Applicant after: Shanghai Zhizhuo Information Technology Co.,Ltd. Address before: 200120 9 / F, building a, No. 58 Xiangke Road, Pudong New Area, Shanghai Applicant before: SHANGHAI TUQU INFORMATION TECHNOLOGY Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210331 Address after: 9 / F, building a, 58 Xiangke Road, Pudong New Area, Shanghai, 200120 Applicant after: SHANGHAI TUQU INFORMATION TECHNOLOGY Co.,Ltd. Address before: 200123 unit 908, 9 / F, building 1, 58 Xiangke Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Applicant before: Shanghai Zhizhuo Information Technology Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
CB02 | Change of applicant information |
Address after: 9 / F, building a, 58 Xiangke Road, Pudong New Area, Shanghai, 200120 Applicant after: Shanghai Weizhi Zhuoxin Information Technology Co.,Ltd. Address before: 9 / F, building a, 58 Xiangke Road, Pudong New Area, Shanghai, 200120 Applicant before: SHANGHAI TUQU INFORMATION TECHNOLOGY Co.,Ltd. |
|
CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant |