CN113196092A - 噪点过滤方法和设备、激光雷达 - Google Patents

噪点过滤方法和设备、激光雷达 Download PDF

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Publication number
CN113196092A
CN113196092A CN201980049879.XA CN201980049879A CN113196092A CN 113196092 A CN113196092 A CN 113196092A CN 201980049879 A CN201980049879 A CN 201980049879A CN 113196092 A CN113196092 A CN 113196092A
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point
detection point
noise
detection
judgment result
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吴特思
陈涵
王闯
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种噪点过滤方法和设备、激光雷达，先根据时间窗口内的各个探测点的空间信息获取用于判断各个探测点是否为噪点的第一判断结果，再分别根据各个探测点的波形信息获取用于判断对应探测点是否为噪点的第二判断结果，然后综合第一判断结果和第二判断结果来从各个探测点中过滤出噪点。由于确定噪点的过程中综合采用了探测点的空间信息和波形信息，因此，提高了噪点检测的准确性。

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PCT国内申请，说明书已公开。

Claims (32)

  1. PCT国内申请，权利要求书已公开。
CN201980049879.XA 2019-11-29 2019-11-29 噪点过滤方法和设备、激光雷达 Pending CN113196092A (zh)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117665833A (zh) * 2024-02-01 2024-03-08 北京亮道智能汽车技术有限公司 雷达数据处理方法、装置、介质和设备

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CN105842678A (zh) * 2014-10-14 2016-08-10 现代自动车株式会社 车辆中用于对激光雷达数据进行滤波的系统及其方法
WO2018205119A1 (zh) * 2017-05-09 2018-11-15 深圳市速腾聚创科技有限公司 基于激光雷达扫描的路沿检测方法和系统
WO2018224610A1 (de) * 2017-06-09 2018-12-13 Valeo Schalter Und Sensoren Gmbh Verfahren zum erfassen von objekten in einem umgebungsbereich eines kraftfahrzeugs, lidar-sensorvorrichtung, fahrerassistenzsystem sowie kraftfahrzeug
CN109444847A (zh) * 2018-11-01 2019-03-08 肖湘江 机器人激光雷达避障的噪点滤波方法
CN110031822A (zh) * 2019-04-22 2019-07-19 上海禾赛光电科技有限公司 可用于激光雷达的噪点识别方法以及激光雷达系统
US20190287254A1 (en) * 2018-03-16 2019-09-19 Honda Motor Co., Ltd. Lidar noise removal using image pixel clusterings

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104156926B (zh) * 2014-08-19 2017-06-23 武汉海达数云技术有限公司 多场景下车载激光点云噪声点去除方法
CN110988846B (zh) * 2019-04-22 2023-07-18 威力登激光雷达美国有限公司 可用于激光雷达的噪点识别方法以及激光雷达系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105842678A (zh) * 2014-10-14 2016-08-10 现代自动车株式会社 车辆中用于对激光雷达数据进行滤波的系统及其方法
WO2018205119A1 (zh) * 2017-05-09 2018-11-15 深圳市速腾聚创科技有限公司 基于激光雷达扫描的路沿检测方法和系统
WO2018224610A1 (de) * 2017-06-09 2018-12-13 Valeo Schalter Und Sensoren Gmbh Verfahren zum erfassen von objekten in einem umgebungsbereich eines kraftfahrzeugs, lidar-sensorvorrichtung, fahrerassistenzsystem sowie kraftfahrzeug
US20190287254A1 (en) * 2018-03-16 2019-09-19 Honda Motor Co., Ltd. Lidar noise removal using image pixel clusterings
CN109444847A (zh) * 2018-11-01 2019-03-08 肖湘江 机器人激光雷达避障的噪点滤波方法
CN110031822A (zh) * 2019-04-22 2019-07-19 上海禾赛光电科技有限公司 可用于激光雷达的噪点识别方法以及激光雷达系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117665833A (zh) * 2024-02-01 2024-03-08 北京亮道智能汽车技术有限公司 雷达数据处理方法、装置、介质和设备
CN117665833B (zh) * 2024-02-01 2024-04-09 北京亮道智能汽车技术有限公司 雷达数据处理方法、装置、介质和设备

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