CN115643809A - 点云探测系统的信号处理方法和点云探测系统 - Google Patents
点云探测系统的信号处理方法和点云探测系统 Download PDFInfo
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- CN115643809A CN115643809A CN201980030550.9A CN201980030550A CN115643809A CN 115643809 A CN115643809 A CN 115643809A CN 201980030550 A CN201980030550 A CN 201980030550A CN 115643809 A CN115643809 A CN 115643809A
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- 238000001514 detection method Methods 0.000 title claims abstract description 55
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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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
- 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
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- 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
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- G—PHYSICS
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- 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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Abstract
本申请提供一种点云探测系统的信号处理方法和点云探测系统，所述方法包括：发射光脉冲信号，并接收所述光脉冲信号对应的回波信号；基于所述回波信号得到点云数据，并对点云数据进行分析以确定点云数据以下属性中的至少一项：记录的回波的个数、记录的回波的形状、所属的被测点类型、所属的噪点类型、噪点置信度；输出包括所述分析的结果的点云数据。根据本申请实施例的点云探测系统的信号处理方法和点云探测系统，对点云数据的属性信息进行分析，并输出包括属性信息的点云数据，可以最大程度地保留点云探测系统获取到的信息，杜绝了由于底层误过滤噪点导致输出的信息空白，有利于改善上层算法的处理效果。
Description
PCT国内申请，说明书已公开。
Claims (28)
- PCT国内申请，权利要求书已公开。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/108237 WO2021056348A1 (zh) | 2019-09-26 | 2019-09-26 | 点云探测系统的信号处理方法和点云探测系统 |
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| CN115643809A true CN115643809A (zh) | 2023-01-24 |
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| WO (1) | WO2021056348A1 (zh) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115980694A (zh) * | 2021-10-15 | 2023-04-18 | 华为技术有限公司 | 一种数据处理、传输方法及装置 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017169782A1 (ja) * | 2016-03-31 | 2017-10-05 | 富士フイルム株式会社 | 距離画像処理装置、距離画像取得装置、及び距離画像処理方法 |
| US20170323429A1 (en) * | 2016-05-09 | 2017-11-09 | John Peter Godbaz | Multiple patterns in time-of-flight camera apparatus |
| CN110136072B (zh) * | 2018-02-08 | 2021-02-09 | 北京大学 | 点云噪声的去除方法、去噪系统、计算机设备及存储介质 |
| CN110031822B (zh) * | 2019-04-22 | 2020-05-22 | 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 |
| 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 |
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