CN111562592B - 物体边缘检测方法、装置及存储介质 - Google Patents
物体边缘检测方法、装置及存储介质 Download PDFInfo
- Publication number
- CN111562592B CN111562592B CN201910085491.7A CN201910085491A CN111562592B CN 111562592 B CN111562592 B CN 111562592B CN 201910085491 A CN201910085491 A CN 201910085491A CN 111562592 B CN111562592 B CN 111562592B
- Authority
- CN
- China
- Prior art keywords
- echo signals
- laser radar
- edge
- points
- point
- 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
- 238000003708 edge detection Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000001914 filtration Methods 0.000 claims description 12
- 238000012163 sequencing technique Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
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
- G01S17/89—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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910085491.7A CN111562592B (zh) | 2019-01-29 | 2019-01-29 | 物体边缘检测方法、装置及存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910085491.7A CN111562592B (zh) | 2019-01-29 | 2019-01-29 | 物体边缘检测方法、装置及存储介质 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111562592A CN111562592A (zh) | 2020-08-21 |
CN111562592B true CN111562592B (zh) | 2024-04-05 |
Family
ID=72071303
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910085491.7A Active CN111562592B (zh) | 2019-01-29 | 2019-01-29 | 物体边缘检测方法、装置及存储介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111562592B (zh) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5805527A (en) * | 1995-12-27 | 1998-09-08 | Denso Corporation | Method and apparatus for measuring distance |
CN104199042A (zh) * | 2014-09-23 | 2014-12-10 | 李亚锋 | 多回波激光测距方法及激光测距仪 |
EP3309583A1 (en) * | 2016-10-14 | 2018-04-18 | Fujitsu Limited | Distance measuring apparatus, distance measuring method, and distance measuring program |
CN108957432A (zh) * | 2018-04-09 | 2018-12-07 | 深圳清创新科技有限公司 | 路沿检测方法、装置、计算机设备和存储介质 |
CN109212542A (zh) * | 2017-07-06 | 2019-01-15 | 通用汽车环球科技运作有限责任公司 | 用于自主车辆操作的校准方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130250273A1 (en) * | 2012-03-21 | 2013-09-26 | ISC8 Inc. | Threshold Detection Method and Device for LIDAR Time of Flight System Using Differentiated Gaussian Signal |
US10698110B2 (en) * | 2015-03-05 | 2020-06-30 | Teledyne Digital Imaging, Inc. | Laser scanning apparatus and method |
DK3206045T3 (da) * | 2016-02-15 | 2021-06-21 | Airborne Hydrography Ab | Enkelt foton lidar scanner |
US11119198B2 (en) * | 2017-03-28 | 2021-09-14 | Luminar, Llc | Increasing operational safety of a lidar system |
-
2019
- 2019-01-29 CN CN201910085491.7A patent/CN111562592B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5805527A (en) * | 1995-12-27 | 1998-09-08 | Denso Corporation | Method and apparatus for measuring distance |
CN104199042A (zh) * | 2014-09-23 | 2014-12-10 | 李亚锋 | 多回波激光测距方法及激光测距仪 |
EP3309583A1 (en) * | 2016-10-14 | 2018-04-18 | Fujitsu Limited | Distance measuring apparatus, distance measuring method, and distance measuring program |
CN109212542A (zh) * | 2017-07-06 | 2019-01-15 | 通用汽车环球科技运作有限责任公司 | 用于自主车辆操作的校准方法 |
CN108957432A (zh) * | 2018-04-09 | 2018-12-07 | 深圳清创新科技有限公司 | 路沿检测方法、装置、计算机设备和存储介质 |
Non-Patent Citations (5)
Title |
---|
Real-time extraction method of road boundary based on three-dimensional lidar;Kunlei Hu et al.;Journal of Physics;第1074卷;全文 * |
基于小波分析的激光扫描回波信号处理;陈金令;谢德林;陈洪斌;蒋行国;石川;;光电工程(09);全文 * |
基于激光雷达波形数据的点云生产;李奇;马洪超;;测绘学报(03);全文 * |
时差式超声测量回波信号处理研究;成俊;张金;王伯雄;;传感器与微系统(12);全文 * |
机载多回波LiDAR数据的分析与应用;杨兴跃等;城市勘测(第4期);正文第1-5节,附图1-9 * |
Also Published As
Publication number | Publication date |
---|---|
CN111562592A (zh) | 2020-08-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103971127B (zh) | 一种前视雷达成像海面目标关键点检测识别方法 | |
US7463184B2 (en) | Object detection apparatus, object detection method, object detection program, and distance sensor | |
KR101913977B1 (ko) | 간 경계 식별방법 및 시스템 | |
EP3629288B1 (en) | Method for detecting flying spot on edge of depth image, electronic device, and computer readable storage medium | |
US20180106598A1 (en) | Distance measuring apparatus and distance measuring method | |
CN112106111A (zh) | 一种标定方法、设备、可移动平台及存储介质 | |
CN112348777B (zh) | 人体目标的检测方法、装置及终端设备 | |
EP3315999A1 (en) | Distance image processing device, distance image processing method, distance image processing program, and recording medium | |
EP2345908A2 (en) | Automatic adjustment of scan angle, scan depth and scan speed in an ultrasound system | |
JP6084810B2 (ja) | 追尾処理装置、及び追尾処理方法 | |
JP2008164545A (ja) | 移動目標検出装置、移動目標検出方法および移動目標検出プログラム | |
CN117918885A (zh) | 一种胎儿心率检测方法及超声成像装置、存储介质 | |
CN111562592B (zh) | 物体边缘检测方法、装置及存储介质 | |
KR101770742B1 (ko) | 클러터를 억제하는 표적 탐지 장치 및 그 방법 | |
US20140078257A1 (en) | Method for visualization of three-dimensional objects on a person | |
KR101696089B1 (ko) | 이미징 소나를 이용한 물체 탐색 방법 및 장치 | |
JP7375838B2 (ja) | 測距補正装置、測距補正方法、測距補正プログラム、および測距装置 | |
JP2003344532A (ja) | レーダ装置 | |
CN114879180B (zh) | 一种无人艇载多元多尺度雷达实时融合的无缝态势感知方法 | |
WO2018074357A1 (ja) | 位置認識装置 | |
CN111723797B (zh) | 一种确定三维目标的包围框的方法及系统 | |
CN116413683A (zh) | 激光雷达及其扫描方法、可读存储介质 | |
JP7300331B2 (ja) | 機械学習用情報処理装置、機械学習用情報処理方法、および機械学習用情報処理プログラム | |
JP6838705B2 (ja) | レーザレーダ装置及びそれに用いる強度画像取得方法 | |
KR101952290B1 (ko) | 다중 빔 초음파 카메라를 이용한 3차원 공간데이터 획득방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210226 Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 100080 Beijing Haidian District, Suzhou Street, No. 20 Courtyard, No. 2 Building, 1st Floor Applicant before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20210226 Address after: 100080 Beijing Haidian District, Suzhou Street, No. 20 Courtyard, No. 2 Building, 1st Floor Applicant after: Beijing Jingbangda Trading Co.,Ltd. Address before: 8 / F, 76 Zhichun Road, Haidian District, Beijing 100083 Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |