CN115605777A - 一种基于路侧感知单元的动态目标点云快速识别及点云分割方法 - Google Patents
一种基于路侧感知单元的动态目标点云快速识别及点云分割方法 Download PDFInfo
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Abstract
一种基于路侧感知单元的动静态物体快速识别及点云分割方法，包括如下步骤：1、构建路侧全息感知(激光雷达)场景，采集一批点云数据作为先验信息；2、确立有效的目标识别范围，并提取静态点云背景用于后续匹配；3、通过比较当前待识别帧的点云数据与记录的静态点云背景的体素特征，识别出变化差异较大的非静态区域，其余部分记录为静态物体；4、以固定频率将非静态区域记录为临时静态区域，通过比对非静态区域与记录的临时静态区域，识别出短时静态物体和动态物体。
Description
PCT国内申请，说明书已公开。
Claims (10)
- PCT国内申请，权利要求书已公开。
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| CN116564098B (zh) * | 2023-07-10 | 2023-10-03 | 北京千方科技股份有限公司 | 不同数据源中相同车辆的识别方法、装置、设备及介质 |
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| CN109188379B (zh) * | 2018-06-11 | 2023-10-13 | 深圳市保途者科技有限公司 | 驾驶辅助雷达工作角度的自动校准方法 |
| JP7511471B2 (ja) * | 2018-07-02 | 2024-07-05 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置及び情報処理方法、コンピュータプログラム、並びに移動体装置 |
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| CN110532896B (zh) * | 2019-08-06 | 2022-04-08 | 北京航空航天大学 | 一种基于路侧毫米波雷达和机器视觉融合的道路车辆检测方法 |
| CN110850378B (zh) * | 2019-11-22 | 2021-11-19 | 深圳成谷科技有限公司 | 一种路侧雷达设备自动校准方法和装置 |
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| CN111999741B (zh) * | 2020-01-17 | 2023-03-14 | 青岛慧拓智能机器有限公司 | 路侧激光雷达目标检测方法及装置 |
| CN111157965B (zh) * | 2020-02-18 | 2021-11-23 | 北京理工大学重庆创新中心 | 车载毫米波雷达安装角度自校准方法、装置及存储介质 |
| CN111476822B (zh) * | 2020-04-08 | 2023-04-18 | 浙江大学 | 一种基于场景流的激光雷达目标检测与运动跟踪方法 |
| CN111192295B (zh) * | 2020-04-14 | 2020-07-03 | 中智行科技有限公司 | 目标检测与跟踪方法、设备和计算机可读存储介质 |
| CN111537966B (zh) * | 2020-04-28 | 2022-06-10 | 东南大学 | 一种适用于毫米波车载雷达领域的阵列天线误差校正方法 |
| CN111880174A (zh) * | 2020-07-03 | 2020-11-03 | 芜湖雄狮汽车科技有限公司 | 一种用于支持自动驾驶控制决策的路侧服务系统及其控制方法 |
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| CN111985322B (zh) * | 2020-07-14 | 2024-02-06 | 西安理工大学 | 一种基于激光雷达的道路环境要素感知方法 |
| CN111862157B (zh) * | 2020-07-20 | 2023-10-10 | 重庆大学 | 一种机器视觉与毫米波雷达融合的多车辆目标跟踪方法 |
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