CN111553946A - 用于去除地面点云的方法及装置、障碍物检测方法及装置 - Google Patents
用于去除地面点云的方法及装置、障碍物检测方法及装置 Download PDFInfo
- Publication number
- CN111553946A CN111553946A CN202010305538.9A CN202010305538A CN111553946A CN 111553946 A CN111553946 A CN 111553946A CN 202010305538 A CN202010305538 A CN 202010305538A CN 111553946 A CN111553946 A CN 111553946A
- Authority
- CN
- China
- Prior art keywords
- point cloud
- depth
- cloud data
- plane
- sub
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 86
- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 239000013598 vector Substances 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims description 40
- 238000001914 filtration Methods 0.000 claims description 23
- 238000009826 distribution Methods 0.000 claims description 20
- 238000000638 solvent extraction Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 16
- 238000009825 accumulation Methods 0.000 claims description 15
- 238000003860 storage Methods 0.000 claims description 11
- 230000011218 segmentation Effects 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 21
- 238000003672 processing method Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 238000000605 extraction Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000005192 partition Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012706 support-vector machine Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
- G06F18/232—Non-hierarchical techniques
- G06F18/2321—Non-hierarchical techniques using statistics or function optimisation, e.g. modelling of probability density functions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
-
- 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
Abstract
Description
Claims (17)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010305538.9A CN111553946B (zh) | 2020-04-17 | 2020-04-17 | 用于去除地面点云的方法及装置、障碍物检测方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010305538.9A CN111553946B (zh) | 2020-04-17 | 2020-04-17 | 用于去除地面点云的方法及装置、障碍物检测方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111553946A true CN111553946A (zh) | 2020-08-18 |
CN111553946B CN111553946B (zh) | 2023-04-18 |
Family
ID=72002524
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010305538.9A Active CN111553946B (zh) | 2020-04-17 | 2020-04-17 | 用于去除地面点云的方法及装置、障碍物检测方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111553946B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114353779A (zh) * | 2021-09-30 | 2022-04-15 | 南京晨光集团有限责任公司 | 一种采用点云投影快速更新机器人局部代价地图的方法 |
CN114782438A (zh) * | 2022-06-20 | 2022-07-22 | 深圳市信润富联数字科技有限公司 | 物体点云修正方法、装置、电子设备和存储介质 |
CN114897040A (zh) * | 2022-03-16 | 2022-08-12 | 宁夏广天夏电子科技有限公司 | 采煤面矫直方法、装置及综采工作面系统 |
CN115390051A (zh) * | 2022-10-27 | 2022-11-25 | 深圳煜炜光学科技有限公司 | 激光雷达标定方法、装置、设备及存储介质 |
CN116630390A (zh) * | 2023-07-21 | 2023-08-22 | 山东大学 | 基于深度图模板的障碍物检测方法、系统、设备及介质 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130181983A1 (en) * | 2010-06-25 | 2013-07-18 | Kabushiki Kaisha Topcon | Point cloud data processing device, point cloud data processing system, point cloud data processing method, and point cloud data processing program |
CN104036544A (zh) * | 2014-06-25 | 2014-09-10 | 西安煤航信息产业有限公司 | 一种基于机载LiDAR数据的建筑物屋顶重建方法 |
CN105184250A (zh) * | 2015-08-31 | 2015-12-23 | 哈尔滨工业大学 | 一种电力走廊机载LiDAR点云数据的地物分类方法 |
CN106780524A (zh) * | 2016-11-11 | 2017-05-31 | 厦门大学 | 一种三维点云道路边界自动提取方法 |
CN110441791A (zh) * | 2019-08-14 | 2019-11-12 | 深圳无境智能机器人有限公司 | 一种基于前倾2d激光雷达的地面障碍物检测方法 |
CN110862033A (zh) * | 2019-11-12 | 2020-03-06 | 中信重工开诚智能装备有限公司 | 一种应用于煤矿斜井绞车的智能预警检测方法 |
US20200111251A1 (en) * | 2018-10-08 | 2020-04-09 | The Hong Kong Polytechnic University | 3d indoor modeling method, system and device based on point cloud data |
-
2020
- 2020-04-17 CN CN202010305538.9A patent/CN111553946B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130181983A1 (en) * | 2010-06-25 | 2013-07-18 | Kabushiki Kaisha Topcon | Point cloud data processing device, point cloud data processing system, point cloud data processing method, and point cloud data processing program |
CN104036544A (zh) * | 2014-06-25 | 2014-09-10 | 西安煤航信息产业有限公司 | 一种基于机载LiDAR数据的建筑物屋顶重建方法 |
CN105184250A (zh) * | 2015-08-31 | 2015-12-23 | 哈尔滨工业大学 | 一种电力走廊机载LiDAR点云数据的地物分类方法 |
CN106780524A (zh) * | 2016-11-11 | 2017-05-31 | 厦门大学 | 一种三维点云道路边界自动提取方法 |
US20200111251A1 (en) * | 2018-10-08 | 2020-04-09 | The Hong Kong Polytechnic University | 3d indoor modeling method, system and device based on point cloud data |
CN110441791A (zh) * | 2019-08-14 | 2019-11-12 | 深圳无境智能机器人有限公司 | 一种基于前倾2d激光雷达的地面障碍物检测方法 |
CN110862033A (zh) * | 2019-11-12 | 2020-03-06 | 中信重工开诚智能装备有限公司 | 一种应用于煤矿斜井绞车的智能预警检测方法 |
Non-Patent Citations (3)
Title |
---|
CHOI S等: "Robust ground plane detection from 3D point clouds" * |
汤涌等: "室内SLAM点云的快速分割研究" * |
范卿等: "起重机吊装路径规划算法" * |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114353779A (zh) * | 2021-09-30 | 2022-04-15 | 南京晨光集团有限责任公司 | 一种采用点云投影快速更新机器人局部代价地图的方法 |
CN114897040A (zh) * | 2022-03-16 | 2022-08-12 | 宁夏广天夏电子科技有限公司 | 采煤面矫直方法、装置及综采工作面系统 |
CN114897040B (zh) * | 2022-03-16 | 2023-06-16 | 宁夏广天夏科技股份有限公司 | 采煤面矫直方法、装置及综采工作面系统 |
CN114782438A (zh) * | 2022-06-20 | 2022-07-22 | 深圳市信润富联数字科技有限公司 | 物体点云修正方法、装置、电子设备和存储介质 |
CN114782438B (zh) * | 2022-06-20 | 2022-09-16 | 深圳市信润富联数字科技有限公司 | 物体点云修正方法、装置、电子设备和存储介质 |
CN115390051A (zh) * | 2022-10-27 | 2022-11-25 | 深圳煜炜光学科技有限公司 | 激光雷达标定方法、装置、设备及存储介质 |
CN116630390A (zh) * | 2023-07-21 | 2023-08-22 | 山东大学 | 基于深度图模板的障碍物检测方法、系统、设备及介质 |
CN116630390B (zh) * | 2023-07-21 | 2023-10-17 | 山东大学 | 基于深度图模板的障碍物检测方法、系统、设备及介质 |
Also Published As
Publication number | Publication date |
---|---|
CN111553946B (zh) | 2023-04-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111210429B (zh) | 点云数据划分方法及装置、障碍物检测方法及装置 | |
CN111582054B (zh) | 点云数据处理方法及装置、障碍物检测方法及装置 | |
CN111553946B (zh) | 用于去除地面点云的方法及装置、障碍物检测方法及装置 | |
CN107817496B (zh) | 适用于自动车辆的对象检测系统 | |
US8199977B2 (en) | System and method for extraction of features from a 3-D point cloud | |
CN112613378B (zh) | 3d目标检测方法、系统、介质及终端 | |
CN111723721A (zh) | 基于rgb-d的三维目标检测方法、系统及装置 | |
JP2007527569A (ja) | 立体視に基づく差し迫った衝突の検知 | |
CN110119679B (zh) | 物体三维信息估计方法及装置、计算机设备、存储介质 | |
CN110390706B (zh) | 一种物体检测的方法和装置 | |
CN111950543A (zh) | 一种目标检测方法和装置 | |
WO2022133770A1 (zh) | 点云法向量的生成方法、装置、计算机设备和存储介质 | |
CN114693696A (zh) | 一种点云数据处理方法及装置 | |
US20200191971A1 (en) | Method and System for Vehicle Detection Using LIDAR | |
CN115147333A (zh) | 一种目标检测方法及装置 | |
US11468609B2 (en) | Methods and apparatus for generating point cloud histograms | |
CN114445473A (zh) | 基于深度学习算子的立体匹配方法和系统 | |
CN114764885A (zh) | 障碍物的检测方法、装置、计算机可读存储介质和处理器 | |
CN114155303A (zh) | 基于双目相机的参数立体匹配方法和系统 | |
US10223803B2 (en) | Method for characterising a scene by computing 3D orientation | |
CN110706288A (zh) | 目标检测的方法、装置、设备及可读存储介质 | |
CN115761425A (zh) | 目标检测方法、装置、终端设备及计算机可读存储介质 | |
CN113808196A (zh) | 平面融合定位方法、装置、电子设备及存储介质 | |
US20240029392A1 (en) | Prediction method for target object, computer device, and storage medium | |
Kim et al. | A high quality depth map upsampling method robust to misalignment of depth and color boundaries |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200818 Assignee: Zoomlion Yuanjiang Branch Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042766 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231008 Application publication date: 20200818 Assignee: HUNAN ZOOMLION CONCRETE MACHINERY STATION EQUIPMENT CO.,LTD. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042761 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231010 Application publication date: 20200818 Assignee: Shaanxi Zhonglian Western earthwork Machinery Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042754 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231010 Application publication date: 20200818 Assignee: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY DEVELOPMENT Co.,Ltd. WEINAN BRANCH Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042749 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231008 Application publication date: 20200818 Assignee: Zoomlion Construction Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042704 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231008 Application publication date: 20200818 Assignee: Zoomlion Concrete Pumping Machinery Branch Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042686 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231010 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200818 Assignee: Zoomlion earth moving machinery Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980043517 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231017 |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200818 Assignee: Hunan ZOOMLION Crawler Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044887 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231030 Application publication date: 20200818 Assignee: Hunan Zoomlion engineering hoisting equipment Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044882 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231030 Application publication date: 20200818 Assignee: Zoomlion Heavy Industry Science and Technology Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044881 Denomination of invention: Method and device for removing ground point clouds, obstacle detection method and device Granted publication date: 20230418 License type: Common License Record date: 20231030 |