CN113926174A - Pile-winding motion trajectory analysis and timing device and analysis method thereof - Google Patents
Pile-winding motion trajectory analysis and timing device and analysis method thereof Download PDFInfo
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Abstract
The invention discloses a pile-winding motion track analysis and timing device and an analysis method thereof, which are mainly suitable for test scoring of sports competition, wherein the scoring device comprises a movable box body, a scoring test system is accommodated in the box body, and the scoring test system comprises a sound control module for man-machine interaction and prompt, a processing unit, a laser radar and other I/O modules for transmission and interaction, the system tracks a tester and a football target through the radar laser radar and predicts the motion track of a ball-winding rod of the tester, and the score of the tester can be obtained through the scoring test system.
Description
Technical Field
The invention belongs to the technology of sports measurement, and particularly relates to a pile-winding motion trajectory analysis and timing device and an analysis method thereof.
Background
Sports competition is full of fair competition activities, the existing sports activities are different from traditional manual judgment modes, more fairness is pursued, and objective and fair scoring and judgment of rules and results of analysis activities are required by means of a series of technical means.
For example, football is dribbled around a pole, the activity is also the sports training and graduation examination items of middle school students at present, the activity mode is shown in figure 1, the examination rule is that the timing is started after the dribble of a person to be tested passes through the starting point, the correct rule is that dribble around the pole is carried out according to the route in the figure, the correct dribble is stopped after reaching the end point, and the score is calculated through the total time. At present, the statistics of test results requires manual observation to see whether a tested person finishes specified pole winding and ball carrying as required, whether the tested person violates rules and the like, a timing tool uses an electric timer or a stopwatch, and then corresponding scores are found out through corresponding standards to finish the counting, so that the problems of inaccuracy of timing and scoring, great randomness and low accuracy of observing whether the pole winding is carried out according to rules exist; the violation and action are not well characterized in the test. The tested person can not know whether the own action is in compliance or not in the test process, the test timeliness is not enough, and the test process cannot be traced back after the test.
In the aspect of measuring equipment, a starting point test rod, an intermediate test winding rod and an end point test rod are generally arranged, a wireless signal receiving switch is installed in a timer, a starting point line is formed between the two starting point test rods, an end point line is formed between the two end point test rods, infrared photoelectric switch emitters are installed at the upper ends of the starting point test rod and the end point test rod respectively, five intermediate test winding rods are arranged, infrared photoelectric switch emitters pointing to the adjacent intermediate test winding rods are installed at the upper end of the first intermediate test winding rod from the starting point line in a single direction, infrared photoelectric switch emitters pointing to the adjacent intermediate test winding rods are installed at the upper end of the fifth intermediate test winding rod from the starting point in a single direction, and two infrared photoelectric switch emitters pointing to the adjacent intermediate test winding rods are installed at the upper ends of the three remaining test winding rods in a two-way.
Measuring aiming at the equipment, wherein infrared photoelectric switch emitters are required to be arranged at each angle and each winding rod around a test field, the directions and the angles between the rods are required to be aligned, and otherwise, whether the cross border exists or not cannot be judged in an infrared blocking mode; whether the rod is wound correctly or not cannot be accurately recorded, and violation judgment is inaccurate; manual judgment of violation of rod-winding boundary is required; and a track graph of the whole test cannot be provided after the test is finished, and the track graph is used for backtracking to judge whether the test is illegal or not and whether the process is correct or not.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects of the evaluation and judgment in the activities such as pole-winding and ball-transporting of the existing football, the invention provides a pile-winding movement track analysis and timing device which is used for evaluating the movement track and the test result in the sports activities such as pile-winding and curvilinear movement; meanwhile, the second purpose of the invention is to provide a pile-winding motion trail analysis method, which can improve the judgment error of the motion trail and scoring in the whole process of pile-winding and other motions.
In order to achieve the above object, the present invention provides the following technical solutions.
A pile-winding motion trail analysis and timing device comprises a body, wherein a sound control device, an image acquisition device and a laser radar are arranged on the body, a scoring evaluation control system is arranged in the body, and the sound control device comprises a loudspeaker and a microphone and is arranged on the surface of the body; the image acquisition device comprises a camera, the camera and the laser radar are arranged at the top of the body, a processing unit in the scoring evaluation control system is interconnected with a loudspeaker and a microphone through a sound control module, and the scoring evaluation control system also comprises a video processing module, a radar processing module, a data storage module and an excitation I/O module, and is connected with the camera, a display screen and the laser radar through the I/O module;
the scoring evaluation control system acquires test site data according to the laser radar and the image acquisition device, transmits the test site data to the processing unit, processes the data by the processing unit, and interconnects the data with the cloud platform through the communication module to realize real-time sharing.
Further, the bottom of the body is provided with a roller, and the roller comprises a locking device provided with the roller.
Further, image acquisition device and laser radar set up in the top of body, and lead to the regulation of automatic telescopic link setting in order to realize the height.
Furthermore, the front part of the body is provided with a display screen which is a touch display screen and is used for setting and adjusting parameters of components of the scoring, testing and evaluating control system.
Furthermore, the body is internally provided with a driving motor and a power module, the driving motor controls the extension height of the automatic telescopic rod, and the power module supplies power for the scoring evaluation control system.
Based on the implementation of the pile-winding motion trail analysis and timing device, the invention also provides a pile-winding motion trail analysis method, which comprises the following steps of determining time and planning and analyzing a motion path:
(1) calibrating parameters of a test site, and determining coordinate information of the test site by setting and adjusting the heights of a laser radar and a camera;
(2) removing barrier points, clustering original data by combining a density-based clustering algorithm DBSCAN with a variable threshold value to extract the peripheral outline of the barrier, processing noise points and accordingly obtaining spatial clusters of any shape;
(3) clustering according to the distance difference between points and points in the x-axis direction and the y-axis direction, outputting a barrier point clustering set m ═ { m _1, m _2, m _3, …, m _ n }, and classifying the barrier points by respectively applying a DBSCAN clustering algorithm to each barrier point set in the output data set;
(4) calculating a distance threshold Eps of the core point field and a threshold MinPts of the minimum point number in the core point neighborhood range based on an adaptive threshold method, and removing static obstacles by using the set DBSCAN clustering algorithm;
(5) extracting a vertex which is closest to an origin on a minimum external rectangular frame of the inclusive barrier as Q (x, y), and extracting the inclusive rectangular frame of the barrier by adopting a minimum convex hull method and a fuzzy line segment method;
(6) and performing data association on the obstacle between two adjacent frames by adopting an MHT method, filtering and predicting the position and the speed of the target obstacle based on a Kalman filter, and calculating a score according to a set difference interval.
In the above method, the calculation expression of the step (4) based on the adaptive threshold method is as follows:
Eps＝rk-1sinΔφ/sin(γ-Δφ)+3σt
in the formula rk-1Is an obstacle point Pn-1Depth value of (d); sigmatIs the measurement error of the laser radar; deltaφFor the angular resolution of the lidar, gamma is the threshold parameter, NTIs m in prepolymerizationiThe number of middle obstacle points;
is a threshold factor.
Has the advantages that: compared with the prior art, the main body of the pile-winding motion trail analysis and timing device can be arranged into a box body structure, and is provided with a roller and the like which are convenient to carry and use, in addition, the top of the main body can realize height adjustment through a camera and a laser radar which are arranged on an automatic telescopic rod, so that tests in different places are facilitated, the adjustment and control are more convenient by matching with a driving motor, a power module and a communication module are arranged in the main body, independent work is realized, and real-time online checking of a cloud platform is realized.
Drawings
FIG. 1 is a schematic view of a prior art dribbling motion of a soccer ball around a pole;
fig. 2(a) is a schematic structural diagram of the main body of the automatic timing and scoring device for dribbling a football around a pole according to the present invention;
FIG. 2(b) is a sectional view of the main structure of the automatic timing and scoring device for dribbling a football around a pole according to the present invention;
FIG. 3 is a schematic view of a scoring control system in the apparatus of the present invention;
FIG. 4 is a data calibration graph for a test site according to the method of the present invention;
FIG. 5 is a flow chart of laser radar sensor calibration;
FIG. 6 is a tester, soccer tracking algorithm flow;
FIG. 7 is a schematic diagram of the method of the present invention for a target matching process;
fig. 8 is a diagram of the calculation process of the test of dribbling the football around the pole.
Detailed Description
For the purpose of explaining the technical solution disclosed in the present invention in detail, the following description is further made with reference to the accompanying drawings and specific embodiments.
The invention firstly discloses a pile-winding motion track analyzing and timing device and an analyzing method thereof. The present embodiment is further described by taking the example of a football winding motion.
As shown in figure 2, the device adopts a box-type main body 3, the bottom of the main body 3 is provided with a roller 1, the roller 1 is convenient for carrying, and in order to play a stable role in use, the roller 1 comprises a locking device. On main part 3, the surface is provided with public address stereo set 7 and touch display screen 8, also is used for realizing the speech interaction including setting up the microphone, for example public address stereo set 7 and touch display screen 8, the microphone sets up and conveniently looks over in the front of main part 3, laser radar 5 and camera 6 should avoid stopping as far as possible, stretch out the inside of main part 3 through automatic telescopic link 4, be located the top of main part 3, and can adjust, regulation control is according to the inside driving motor allotment of main part 3. The main body 3 is provided with a score evaluation control system inside, and a control room 2 can be arranged on the main body 3 for facilitating the arrangement of the constituent elements of the system.
The control room 2 is used for installing and setting a score evaluation control system, as shown in fig. 3, the score evaluation control system in the automatic timing and scoring device for dribbling a football on a pole uses a processor as a processing control unit of data, the processor uses a microcomputer chip CPU as an example, and then is communicated with the processor and is provided with a sound control module and an I/O module, the sound control module adopts an existing voice recognition chip and is mainly used for realizing man-machine voice interaction, voice prompt is carried out on athletes according to a set program, the device comprises an intelligent question and answer and voice instruction receiving and sending and the like realized based on AI, a loudspeaker and a microphone are connected with the sound control module, music and prompt tones are broadcasted, and the loudspeaker is further powered to realize a sound amplifying 7 arranged on the body 1. The microphone is used as a voice recording and collecting device, and comprises the steps of synchronously recording voice, instructions, mouth numbers and the like during video collection, and signals collected by the loudspeaker and the microphone are subjected to format conversion through the voice control module and then subjected to data receiving, sending and processing with the processor. The main data acquisition of the scoring evaluation control system is based on a laser radar which emits electromagnetic radiation waves within a certain range, data are transmitted to a processor according to reflected wave signals, drawing of a three-dimensional topographic map can be achieved, coordinate information of a test site is determined, a touch control realization screen is connected through the I/O module, external input equipment comprising an LCD and an LED display is used for adjusting and setting parameters, instructions are allocated, a camera is further connected, further pointing is achieved, and for convenience of operation, the I/O module can be connected with other input equipment according to actual products, and the I/O module comprises an operation panel, external storage equipment, audio equipment and the like. The processor is also interconnected with a video processing module, a radar processing module and a data storage module, the modules correspondingly process corresponding data types and correspond to connected terminal acquisition equipment, and the modules can be purchased through the existing equipment to realize the processing, so the combined processing technology is not repeated. The scoring evaluation control system is also provided with a communication module, wireless connection is established through the communication module, data information is interconnected with a cloud platform at the rear end, real-time online monitoring is achieved, and evaluation and supervision based on the cloud platform can be conveniently achieved by a background. In main part 3, still be equipped with power module, this power module is for this score test and appraisal control system power supply, including for the driving motor power supply of automatic telescopic link, rechargeable power module is applicable to the device more and uses on open air test field.
The device comprises a touch liquid crystal display, a three-dimensional laser scanning radar sensor, a video acquisition camera, a loudspeaker and a telescopic rod; in operation, the three-dimensional laser scanning radar scans at a speed of about 10 revolutions per second. During the test process, the three-dimensional laser scanning radar can monitor the whole process of starting, dribbling and rod winding of the testee in real time. Based on the implementation of the above-mentioned automatic timing and scoring device for dribbling football around poles, a method for determining the score of dribbling football around poles is specifically described below.
The method mainly utilizes the three-dimensional laser scanning radar to emit laser beams to the periphery, and draws a three-dimensional model of the surrounding environment through reflected signals, so that the three-dimensional outline, the relative position, the distance and the speed of a football dribble of a tester in a test field can be accurately measured, whether the football is in violation in the test process is automatically judged, and a test trajectory diagram is generated after the test is finished; the error of manual measurement is effectively reduced to effectively avoid the defect of using infrared photoelectric technique to realize.
The method comprises the following steps:
(1) calibrating parameters of a test site, and determining coordinate information of the test site by setting and adjusting the heights of a laser radar and a camera;
specifically, during testing, virtual boundary calibration is performed on a test site, a schematic diagram of the calibration site is shown in fig. 4, a calibration flow of the laser radar is shown in fig. 5, and a site calibration process is as follows: after the radar is opened, the left vertex coordinate P of the field is calibrated1(x1, y1)), and calibrating coordinates P of the lower right point of the field2(x2, y2) from the left vertex coordinate P1(x1, y1) and coordinates of the lower right point P2And (x2, y2) determining a test site by the aid of the defined rectangle, and automatically calculating the uniformly distributed positions of the marker posts according to the number of dot matrixes returned by the radar within the range of the test site after the boundary of the virtual site is determined.
(2) Removing barrier points, clustering original data by combining a density-based clustering algorithm DBSCAN with a variable threshold value to extract the peripheral outline of the barrier, processing noise points and accordingly obtaining spatial clusters of any shape;
specifically, with reference to fig. 6, the obstacle points on the ground and the like which are not in the region of interest are removed by screening, and only the rough outline of the obstacle is retained, which is beneficial to extracting the outline of the obstacle in which the tester, the football and the marker post are interested.
Then, clustering the original data by using a density-based clustering algorithm DBSCAN in combination with a variable threshold value to extract a peripheral rectangular outline of the obstacle; the algorithm utilizes density to perform clustering, namely the number of objects (points or other space objects) contained in a certain area in a clustering space is required to be not less than a given threshold value, the calculation speed is high, and noise points can be effectively processed and spatial clustering with any shape can be found.
(3) Clustering according to the distance difference between points and points in the x-axis direction and the y-axis direction, outputting a barrier point clustering set m ═ { m _1, m _2, m _3, …, m _ n }, and classifying the barrier points by respectively applying a DBSCAN clustering algorithm to each barrier point set in the output data set;
specifically, in order to reduce the operation amount of the DBSCAN clustering algorithm and improve the real-time performance, all the obstacle points are pre-clustered. The specific method comprises the following steps: clustering according to the distance difference between the points in the x-axis direction, and clustering according to the distance difference between the points in the y-axis direction on the basis. And finally, outputting the barrier point clustering set m ═ { m _1, m _2, m _3, …, m _ n }. And then, applying a DBSCAN clustering algorithm to each obstacle point set in the output data set respectively to further classify the obstacle points.
(4) Calculating a distance threshold Eps of the core point field and a threshold MinPts of the minimum point number in the core point neighborhood range based on an adaptive threshold method, and removing static obstacles by using the set DBSCAN clustering algorithm;
specifically, the DBSCAN clustering algorithm needs to input a core point domain distance threshold value Eps for filtering noise and a threshold value MinPts of the minimum number of points in the core point neighborhood range in advance. If the two values are too large, a plurality of obstacles are easily mistakenly divided into the same obstacle; on the contrary, the same obstacle may be mistakenly divided into several obstacles. Since the density of the obstacle points collected by the laser radar becomes smaller as the depth of the laser point becomes larger, Eps, MinPts should be changed depending on the depth of the laser point. The method using adaptive thresholds:
Eps＝rk-1sinΔφ/sin(γ-Δφ)+3σt
in the formula rk-1Is an obstacle point Pn-1Depth value of (d); sigmatFor measuring errors of lidarA difference; deltaφFor the angular resolution of the lidar, Δ is taken hereφ0.2 °; gamma is a threshold parameter, which determines the size of the maximum distance threshold, where gamma is 1 °; n is a radical ofTIs m in prepolymerizationiThe number of middle obstacle points;
is a threshold factor, obtained empirically, and taken as
The clustering result after the DBSCAN algorithm is applied shows that the algorithm can separate different obstacles for identifying the same obstacle by pre-clustering and can remove the interference obstacles (static obstacles such as walls, leaves, trunks and the like) with overlong length, undersized area and too sparse point density.
(5) Extracting a vertex which is closest to an origin on a minimum external rectangular frame of the inclusive barrier as Q (x, y), and extracting the inclusive rectangular frame of the barrier by adopting a minimum convex hull method and a fuzzy line segment method;
specifically, the extracted main features of the obstacle include a tracking point position Q (x, y), a deviation angle θ between a moving direction and an x-axis, a length L, and a width W. And extracting a vertex which is closest to the origin on the minimum circumscribed rectangular frame of the wrapped obstacle as Q (x, y), wherein the change of the vertex along with the radar visual angle is generally small, and the included angle between the longest side line of the rectangular frame and the x axis is used as the obstacle angle information theta. And extracting an inclusionary rectangular frame of the barrier by combining a minimum convex hull method with a fuzzy line segment method.
(6) And performing data association on the obstacle between two adjacent frames by adopting an MHT method, filtering and predicting the position and the speed of the target obstacle based on a Kalman filter, and calculating a score according to a set difference interval.
Specifically, an MHT (multi-object hypothesis tracking) method is adopted to perform data association on the obstacle between two adjacent frames, and since a certain noise exists at the position of the target (as if the position of one obstacle tracking point is shifted), a kalman filter is adopted to filter and predict the position and the speed of the target obstacle, and the algorithm flow is shown in fig. 6.
For the data association algorithm, firstly, the obstacle tracked by the previous frame is represented by { T _ j } (j is 1, …, M), and { Z _ i } (i is 1, …, N) is the obstacle detected by the current frame. According to the actual situation, there are 3 cases (see fig. 7): the obstacle that has been tracked gradually or suddenly disappears, and the current frame has no obstacle associated with it, which can be denoted as { T _ jN }; a new obstacle suddenly or gradually enters the radar search area, and no obstacle is associated with the previous frame, which can be represented as { Z _ iN }; an obstacle in the current frame is associated with a previously tracked obstacle, denoted as Y (T _ j, Z _ i).
In fig. 7, the circular area indicates a position where an obstacle may appear, the radius of the circle is SR, and the invention takes SR to be 3 m. In the figure, the obstacles T _1, T _2, and T _3 represent the positions of the obstacles predicted by the kalman filter and inherit other geometric features of the previous frame, and Z _1, Z _2, and Z _3 are the obstacles appearing in the current frame, then according to the above 3 cases, a series of assumptions can be formed:
assume that iN H _ k, P (Y (T _ j, Z _ i)) represents the probability of successful association, P (T _ jN) represents the probability of disassociation of the obstacle of the previous frame, and P (Z _ iN) represents the probability of disassociation of the obstacle of the current frame. P (Y (T _ j, Z _ i)) is the joint probability of 4 associated feature matching probabilities: probability P _ cov (Tj, Zi) that two obstacles have an overlapping area; the matching probability P _ center (T _ j, Z _ i) of the center point; matching probability P _ WL (Tj, Zi) of the length and width of the obstacle; the matching probability P _ ratio (Tj, Zi) of the obstacle inclination angle.
Due to the fact that the obstacles in the circular area have a certain area, if the areas of the two obstacles have an overlapping part, the probability that the two obstacles are the same obstacle in two adjacent frames is high.
To sum up, further describe, in combination with the test flow chart shown in fig. 8, the apparatus and method of the present invention are implemented by, firstly, calibrating a test site, after the completion, starting a football dribbling test by a tester, emitting a modulated laser signal by a three-dimensional laser scanning radar, reflecting the modulated laser signal by the tester and a football, receiving the modulated laser signal by the three-dimensional laser scanning radar, forming a real-time point cloud receiving signal to realize real-time modeling, tracking the tester and a football target by the three-dimensional laser radar, and predicting a moving trajectory of a dribbling winding rod of the tester, and specifically, the method includes: because the visual angle is different when the three-dimensional laser radar collects the obstacle points each time, the coordinate change of the collected part of the obstacle points is large, and a plurality of obstacle points are irrelevant to the tracking of testers and football, such as the road surface, the wall body, the high-rise building, other people and other peripheral objects. Too many obstacle points affect the extraction of the tester, soccer ball and marker post profiles, so it is necessary to screen the raw data. Firstly, an interested space area is established, and points outside the space are eliminated. Starting a three-dimensional laser radar to acquire data when a test is started, and clustering original data by using a density-based clustering algorithm DBSCAN in combination with a variable threshold to extract effective tracking object data in a virtual test field; after effective tracking object data are extracted, data association is carried out on a tracked object between two adjacent frames by adopting an MHT (multi-target hypothesis tracking) method, and due to the fact that certain noise exists in the position of the target (as if the position of a tracking point of an obstacle deviates), filtering and predicting are carried out on the position and the speed of the target obstacle by adopting a Kalman filter, wherein the specific filtering process is shown in figure 6. Real-time received signal contains the relevant information of tester and football and the relevant information of bull stick utilize three-dimensional laser scanning radar range finding and the principle of testing the speed, can accurately acquire the sport position of tester, the position of football, and the tester, football and bull stick, the position relation in test place, thereby the compliance of tester football dribbling bull stick is accurately judged, and accurate record begins, the dead time, save test process's trail graph, effectively reduce artifical test's error, improve measured data's accuracy and measuring real-time, be convenient for simultaneously data look over and store, alleviate work load.
Claims (7)
1. The utility model provides a around stake movement track analysis and timing device, includes the body, its characterized in that: the body is provided with a sound control device, an image acquisition device and a laser radar, a scoring evaluation control system is arranged in the body, and the sound control device comprises a loudspeaker and a microphone and is arranged on the surface of the body; the image acquisition device comprises a camera, the camera and the laser radar are arranged at the top of the body, a processing unit in the scoring evaluation control system is interconnected with a loudspeaker and a microphone through a sound control module, and the scoring evaluation control system also comprises a video processing module, a radar processing module, a data storage module and an excitation I/O module, and is connected with the camera, a display screen and the laser radar through the I/O module;
the scoring evaluation control system acquires test site data according to the laser radar and the image acquisition device, transmits the test site data to the processing unit, processes the data by the processing unit, and interconnects the data with the cloud platform through the communication module to realize real-time sharing.
2. A pile encircling movement trajectory analysis and timing device according to claim 1, wherein: the bottom of the body is provided with a roller which comprises a locking device provided with the roller.
3. A pile encircling movement trajectory analysis and timing device according to claim 1, wherein: the image acquisition device and the laser radar are arranged at the top of the body and are arranged through an automatic telescopic rod to realize height adjustment.
4. A pile encircling movement trajectory analysis and timing device according to claim 1, wherein: the front part of the body is provided with a display screen which is a touch display screen and is used for setting and adjusting parameters of components of the scoring evaluation control system.
5. A pile encircling movement trajectory analysis and timing device according to claim 1, wherein: the automatic telescopic rod is characterized in that a driving motor and a power module are arranged in the body, the driving motor controls the extending height of the automatic telescopic rod, and the power module supplies power for the scoring evaluation control system.
6. A method of analysis of a trajectory of motion around a pile for implementing a trajectory analysis and timing device according to claim 1, the method comprising determining a time and path planning analysis, wherein: the method comprises the following steps:
(1) calibrating parameters of a test site, setting a laser radar and a camera, and determining coordinate information of the test site in a radiation range of the laser radar;
(2) removing barrier points, clustering original data by combining a density-based clustering algorithm DBSCAN with a variable threshold value to extract the peripheral outline of the barrier, processing noise points and accordingly obtaining spatial clusters of any shape;
(3) clustering according to the distance difference between points and points in the x-axis direction and the y-axis direction, outputting a barrier point clustering set m ═ { m _1, m _2, m _3, …, m _ n }, and classifying the barrier points by respectively applying a DBSCAN clustering algorithm to each barrier point set in the output data set;
(4) calculating a distance threshold Eps of the core point field and a threshold MinPts of the minimum point number in the core point neighborhood range based on an adaptive threshold method, and removing static obstacles by using the set DBSCAN clustering algorithm;
(5) extracting a vertex which is closest to an origin on a minimum external rectangular frame of the inclusive barrier as Q (x, y), and extracting the inclusive rectangular frame of the barrier by adopting a minimum convex hull method and a fuzzy line segment method;
(6) and performing data association on the obstacle between two adjacent frames by adopting an MHT method, filtering and predicting the position and the speed of the target obstacle based on a Kalman filter, and calculating a score according to a set difference interval.
7. The pile-winding motion trajectory analysis method according to claim 6, wherein: the calculation expression of the step (4) based on the adaptive threshold method is as follows:
Eps＝rk-1sinΔφ/sin(γ-Δφ)+3σt
in the formula rk-1Is an obstacle point Pn-1Depth value of (d); sigmatIs the measurement error of the laser radar; deltaφFor the angular resolution of the lidar, gamma is the threshold parameter, NTIs m in prepolymerizationiThe number of middle obstacle points;
is a threshold factor.
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