CN115729919A - Invalid data real-time filtering method, system and medium for vehicle-mounted mobile measurement system - Google Patents
Invalid data real-time filtering method, system and medium for vehicle-mounted mobile measurement system Download PDFInfo
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Abstract
The invention discloses a method, a system and a medium for filtering invalid data of a vehicle-mounted mobile measurement system in real time, wherein the method comprises the following steps: acquiring data of each sensor, and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data; performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache; according to the time information of the pose data, deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache; performing point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache; storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file; invalid data can be identified and filtered in real time, so that the storage and transmission pressure of subsequent links is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted mobile measurement systems, in particular to a method, a system and a medium for filtering invalid data of a vehicle-mounted mobile measurement system in real time.
Background
The vehicle-mounted mobile measurement system integrates various sensors, and mainly rapidly acquires data, measures ground objects and acquires attributes; it is mainly composed of carrying vehicle, positioning and attitude-fixing sensor, measuring sensor, mechanical supporting structure, power supply, integrated control circuit, computer and correspondent software.
When the vehicle-mounted mobile measurement system collects data in an urban area, the static collection condition of the vehicle-mounted mobile measurement system can occur due to traffic jam and traffic light waiting, the statically collected redundant data has no value to a subsequent processing link and belongs to invalid data, and the storage space in the vehicle-mounted mobile measurement system can be consumed, and the data transmission pressure and the storage cost of the subsequent data processing link can be increased.
Based on the above problems, a solution needs to be designed to identify and filter the collected invalid data in real time.
Disclosure of Invention
The invention provides a method, a system and a medium for filtering invalid data of a vehicle-mounted mobile measurement system in real time, which are used for identifying and filtering the invalid data in real time, so that the storage and transmission pressure of subsequent links is reduced.
In a first aspect, a method for filtering invalid data of a vehicle-mounted mobile measurement system in real time is provided, which includes the following steps:
acquiring data of each sensor, and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data;
performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache;
according to the time information of the pose data, deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache;
carrying out point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in a temporary data cache;
and storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of "performing pose filtering according to pose data in a preset storage time period, and deleting filtered invalid pose data in a temporary data cache" specifically includes the following steps:
according to the distance between adjacent pose points in a preset storage time period and a preset pose threshold value;
when the distance between the adjacent pose points is detected to be smaller than a preset pose threshold value, judging the pose points to be invalid pose data, and deleting the filtered invalid pose data in a temporary data cache;
and when the distance between the adjacent pose points is detected to be greater than a preset pose threshold value, judging the pose points to be effective pose data.
According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of "performing point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache" specifically includes the following steps:
and respectively carrying out point cloud density filtering, point cloud intensity filtering and point cloud local filtering on the residual point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache.
According to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of performing point cloud density filtering on the remaining point cloud data specifically includes the following steps:
according to the distance between adjacent point clouds and a preset point cloud density threshold value;
when the distance between adjacent point clouds is smaller than a preset point cloud density threshold value, judging the point clouds to be invalid point cloud data;
and when the distance between the cloud points of the adjacent points is larger than a preset point cloud density threshold value, judging the point cloud to be effective point cloud data.
According to a third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of performing point cloud intensity filtering on the remaining point cloud data specifically includes the following steps:
according to the intensity value of the point cloud and a preset point cloud intensity threshold value;
when the intensity value of the point cloud is detected to be smaller than a preset point cloud intensity threshold value, judging the point cloud to be invalid point cloud data;
and when the intensity value of the point cloud is detected to be larger than the preset point cloud intensity threshold value, judging the point cloud to be effective point cloud data.
According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of "performing point cloud local filtering on the remaining point cloud data" specifically includes the following steps:
and when the local point cloud data set is detected to be the irregular discrete point cloud data set, judging that the local point cloud data set is invalid point cloud data.
According to a fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, after the step of "deleting, according to the time information of the pose data, the remaining data in each sensor data corresponding to the invalid pose data at the same time in the temporary data cache", the method specifically includes the following steps:
the sensor data further comprises image data;
and storing the effective image data in the temporary data cache into an effective storage file.
In a second aspect, a system for filtering invalid data of an in-vehicle mobile measurement system in real time is provided, which includes:
the data acquisition module is used for acquiring data of each sensor and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data;
the pose filtering module is in communication connection with the data acquisition module and is used for filtering poses according to pose data in a preset storage time period and deleting the filtered invalid pose data in a temporary data cache;
the primary filtering module is in communication connection with the data acquisition module and the pose filtering module and is used for deleting the rest data in the sensor data corresponding to invalid pose data at the same time in a temporary data cache according to the time information of the pose data;
the point cloud filtering module is in communication connection with the data acquisition module and the primary filtering module and is used for carrying out point cloud filtering on the remaining point cloud data and deleting the filtered invalid point cloud data in the temporary data cache;
and the effective data storage module is in communication connection with the pose filtering module, the primary filtering module and the point cloud filtering module, and stores effective pose data and effective point cloud data in temporary data cache into an effective storage file.
In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements a method for real-time filtering of invalid data of a vehicle-mounted movement measurement system as defined in any one of the above.
Compared with the prior art, the invention has the following advantages: firstly, acquiring data of each sensor, and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data; performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache; deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache according to the time information of the pose data; carrying out point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in a temporary data cache; and then storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file.
Therefore, the process of analyzing the data collected by the sensor in real time in time sequence and space is added to the vehicle-mounted mobile measurement system, and invalid data is identified and filtered in real time; thereby reducing the storage and transmission pressure of the subsequent links. Therefore, invalid data can be filtered, the data volume per kilometer is reduced, the storage resource consumption of the vehicle-mounted mobile measuring system is reduced, and the effective acquisition operation mileage is increased. Invalid data is filtered, so that the flow of worthless data into a subsequent data processing link is reduced, the storage consumption in a post-processing stage is reduced, and particularly, the storage cost in the high-precision map manufacturing process is reduced.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a real-time invalid data filtering method for a vehicle-mounted mobile measurement system according to the present invention;
FIG. 2 is a schematic flow chart illustrating a method for filtering invalid data in real time in a vehicle-mounted mobile measurement system according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of an invalid data real-time filtering system of an on-vehicle mobile measuring system of the invention.
Description of the drawings:
100. an invalid data real-time filtering system of the vehicle-mounted mobile measurement system; 110. a data acquisition module; 120. a pose filtering module; 130. a primary filtering module; 140. a point cloud filtering module; 150. and the effective data storage module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a method for filtering invalid data of a vehicle-mounted mobile measurement system in real time, which is applied to the vehicle-mounted mobile measurement system, and includes the following steps:
s100, acquiring data of each sensor, and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data;
before the data is stored in the effective storage file, the data of each sensor is cached in a temporary data cache, and the data of each sensor within a preset storage time period of-10 s is cached in the scheme for subsequent analysis.
S200, performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache;
s300, deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache according to the time information of the pose data;
and marking the data of other sensors (cameras and laser scanners) acquired at corresponding moments as invalid data according to the time information of the pose points, and deleting the data.
S400, carrying out point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in a temporary data cache;
s500, storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file;
and storing the pose (track), the point cloud and the image into a directory of specified rules according to the data storage rules, so that the use of subsequent links is facilitated.
Specifically, in this embodiment, when the vehicle-mounted mobile measurement system collects data in an urban area, because of traffic congestion and traffic light waiting, a static collection situation of the vehicle-mounted mobile measurement system may occur, and statically collected redundant data has no value for a subsequent processing link and belongs to invalid data, and may consume a storage space in the vehicle-mounted mobile measurement system and increase data transmission pressure and storage cost of the subsequent data processing link.
Therefore, in order to solve the problems, the method includes the steps that sensor data are obtained firstly, and are stored in a temporary data cache according to a preset storage time period, wherein the sensor data comprise pose data and point cloud data; performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache; deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache according to the time information of the pose data; performing point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache; and then storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file.
Therefore, the process of analyzing the data acquired by the sensor in real time in time sequence and space is added to the vehicle-mounted mobile measurement system, and invalid data are identified and filtered in real time; thereby reducing the storage and transmission pressure of the subsequent links. Therefore, invalid data can be filtered, the data volume per kilometer is reduced, the storage resource consumption of the vehicle-mounted mobile measurement system is reduced, and the effective collection operation mileage is increased. Invalid data is filtered, so that the flow of worthless data into a subsequent data processing link is reduced, the storage consumption in a post-processing stage is reduced, and particularly, the storage cost in the high-precision map manufacturing process is reduced.
Preferably, in another embodiment of the present application, the step of S200 performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache includes the following steps:
s210, according to the distance between adjacent pose points in a preset storage time period and a preset pose threshold value;
s220, when the distance between the adjacent pose points is detected to be smaller than a preset pose threshold value, judging the pose points to be invalid pose data, and deleting the filtered invalid pose data in a temporary data cache;
and S230, when the distance between the adjacent pose points is detected to be greater than a preset pose threshold value, judging the pose points to be effective pose data.
Specifically, in this embodiment, adjacent pose points within 10s are statistically analyzed, a distance d between the adjacent pose points is calculated, and a preset pose threshold L is set; and when d is less than L, judging that the vehicle is in a static state or a slow moving state, and marking the pose point as invalid data.
Preferably, in another embodiment of the present application, the step of "S400 performing point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache" specifically includes the following steps:
and respectively carrying out point cloud density filtering, point cloud intensity filtering and point cloud local filtering on the residual point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache.
Specifically, in this embodiment, when the spatio-temporal analysis is performed on the pose data, effective point cloud data can be preliminarily screened out, but the effective point cloud data needs to be further analyzed, and whether meaningless data for a subsequent data production link exists in the discrete point cloud.
Preferably, in another embodiment of the present application, the step of "performing point cloud density filtering on the remaining point cloud data" specifically includes the following steps:
according to the distance between adjacent point clouds and a preset point cloud density threshold value;
when the distance between adjacent point clouds is smaller than a preset point cloud density threshold value, judging the point clouds to be invalid point cloud data;
and when the distance between the adjacent cloud points is detected to be larger than a preset point cloud density threshold value, judging the point cloud to be effective point cloud data.
Specifically, in this embodiment, a spatial distance D between adjacent point clouds is calculated, a preset point cloud density threshold S is set, and when D < S, the point cloud data is marked as invalid point cloud data.
Preferably, in another embodiment of the present application, the step of "performing point cloud intensity filtering on the remaining point cloud data" includes the following steps:
according to the intensity value of the point cloud and a preset point cloud intensity threshold value;
when the intensity value of the point cloud is detected to be smaller than a preset point cloud intensity threshold value, judging the point cloud to be invalid point cloud data;
when the intensity value of the point cloud is detected to be larger than the preset point cloud intensity threshold value, the point cloud is judged to be effective point cloud data
Specifically, in this embodiment, a preset point cloud intensity threshold T is set based on the intensity value I of the point cloud, and when I < T, the point cloud is marked as invalid point cloud data.
Preferably, in another embodiment of the present application, the step of "performing local point cloud filtering on the remaining point cloud data" specifically includes the following steps:
and when the local point cloud data set is detected to be the irregular discrete point cloud data set, judging that the local point cloud data set is invalid point cloud data.
Specifically, in this embodiment, pattern recognition is performed on single-frame point cloud data, a road surface range is recognized first, dynamic data of the road surface is recognized, irregular discrete point cloud data such as vegetation or trees on two sides of the road surface are recognized through spatial rule analysis, and the irregular discrete point cloud data is marked as invalid point cloud data.
Preferably, in another embodiment of the present application, after the step of "S300, according to the time information of the pose data, deleting the remaining data in each sensor data corresponding to the invalid pose data at the same time in the temporary data cache", the method specifically includes the following steps:
the sensor data further comprises image data;
and storing the effective image data in the temporary data cache into an effective storage file.
Referring to fig. 2, the invalid data real-time filtering method of the vehicle-mounted mobile measurement system provided by the embodiment of the present invention includes the following specific steps:
1. and recording data of each sensor, and acquiring the data of each sensor in real time.
2. Caching data;
sensor data is cached in a temporary data cache 10s before the data is stored in a valid memory file for subsequent analysis.
3. Performing space-time analysis on the attitude data;
and (5) performing statistical analysis on adjacent pose points in 10s, calculating the spatial distance d of the adjacent pose points, and setting a threshold value L.
4. Judging static collection;
when d is less than L, the judged vehicle is in a static state or a slow moving state, and the pose point is marked as invalid data to be deleted; and according to the time information of the pose points, marking the data of other sensors (cameras and laser scanners) acquired at the corresponding moment as invalid data and deleting the invalid data.
5. The image data is written to a storage file,
and storing the effective image data into an effective storage file.
6. Pose (track) write-in storage file
And storing the effective pose data into an effective storage file.
7. Point cloud data filtering
Further analysis is needed for the preliminarily filtered effective point cloud data, and whether data which are meaningless to the subsequent data production link exist in the discrete point cloud or not is judged.
8. Point cloud data density and intensity analysis
Calculating a spatial distance D between adjacent point clouds, setting a preset point cloud density threshold value S, and marking invalid point cloud data for deletion when D is less than S;
and setting a preset point cloud intensity threshold T based on the intensity value I of the point cloud, and marking as invalid point cloud data for deletion when I < T.
9. Local identification and segmentation of point cloud data
And carrying out pattern recognition on the single-frame point cloud data, firstly recognizing the range of the road surface, recognizing dynamic data of the road surface, recognizing irregular discrete point cloud data such as vegetation or trees on two sides of the road surface through space rule analysis, and marking the irregular discrete point cloud data as invalid point cloud data.
10. Judging whether the data is valid data or not
And deleting the point cloud data marked as invalid from the point cloud data in the cache.
11. Storing point cloud into effective storage file
And storing the residual point cloud data in the cache into an effective storage file.
12. Data collation
And storing the pose (track), the point cloud and the image into a directory of specified rules according to a data storage rule, so that the use of subsequent links is facilitated.
Referring to fig. 3, an embodiment of the present invention further provides a system 100 for filtering invalid data of a vehicle-mounted mobile measurement system in real time, where the system includes: the system comprises a data acquisition module 110, a pose filtering module 120, a primary filtering module 130, a point cloud filtering module 140 and an effective data storage module 150;
the data acquisition module 110 is configured to acquire data of each sensor, and store the data of each sensor in a temporary data cache according to a preset storage time period, where the data of each sensor includes pose data and point cloud data;
a pose filtering module 120, communicatively connected to the data acquiring module 110, configured to filter poses according to pose data in a preset storage time period, and delete filtered invalid pose data in a temporary data cache;
a primary filtering module 130, communicatively connected to the data acquiring module 110 and the pose filtering module 120, configured to delete, in a temporary data cache, the remaining data in each sensor data corresponding to the same time as the invalid pose data according to the time information of the pose data;
a point cloud filtering module 140, communicatively connected to the data acquiring module 110 and the primary filtering module 130, for performing point cloud filtering on the remaining point cloud data and deleting the filtered invalid point cloud data in a temporary data cache;
and the effective data storage module 150 is in communication connection with the pose filtering module 120, the primary filtering module 130 and the point cloud filtering module 140, and stores the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file.
Firstly, acquiring data of each sensor, and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data; performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache; deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache according to the time information of the pose data; carrying out point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in a temporary data cache; and then storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file.
Therefore, the process of analyzing the data acquired by the sensor in real time in time sequence and space is added to the vehicle-mounted mobile measurement system, and invalid data are identified and filtered in real time; thereby reducing the storage and transmission pressure of the subsequent links. Therefore, invalid data can be filtered, the data volume per kilometer is reduced, the storage resource consumption of the vehicle-mounted mobile measurement system is reduced, and the effective collection operation mileage is increased. Invalid data are filtered, the fact that worthless data flow into a subsequent data processing link is reduced, storage consumption in a post-processing stage is reduced, and particularly storage cost in a high-precision map manufacturing process is reduced.
Specifically, this embodiment corresponds to the above method embodiments one to one, and the functions of each module have been described in detail in the corresponding method embodiments, so that the details are not repeated.
Based on the same inventive concept, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention realizes all or part of the processes of the above methods, and can also be implemented by a computer program instructing related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer-readable medium may contain suitable additions or subtractions depending on the requirements of legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer-readable media may not include electrical carrier signals or telecommunication signals in accordance with legislation and patent practice.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A real-time invalid data filtering method for a vehicle-mounted mobile measurement system is characterized by comprising the following steps:
acquiring data of each sensor, and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data;
performing pose filtering according to pose data in a preset storage time period, and deleting the filtered invalid pose data in a temporary data cache;
according to the time information of the pose data, deleting the rest data in the sensor data corresponding to the invalid pose data at the same time in a temporary data cache;
carrying out point cloud filtering on the remaining point cloud data, and deleting the filtered invalid point cloud data in a temporary data cache;
and storing the effective pose data and the effective point cloud data in the temporary data cache into an effective storage file.
2. The method for filtering the invalid data of the vehicle-mounted mobile measurement system according to claim 1, wherein the step of performing pose filtering according to pose data in a preset storage time period and deleting the filtered invalid pose data in a temporary data cache comprises the following steps:
according to the distance between adjacent pose points in a preset storage time period and a preset pose threshold value;
when the distance between adjacent pose points is detected to be smaller than a preset pose threshold value, judging the pose points to be invalid pose data, and deleting the filtered invalid pose data in a temporary data cache;
and when the distance between the adjacent pose points is detected to be greater than a preset pose threshold value, judging the pose points to be effective pose data.
3. The method for filtering invalid data of a vehicle-mounted mobile measurement system according to claim 1, wherein the step of performing point cloud filtering on the remaining point cloud data and deleting the filtered invalid point cloud data in the temporary data cache comprises the following steps:
and respectively carrying out point cloud density filtering, point cloud intensity filtering and point cloud local filtering on the residual point cloud data, and deleting the filtered invalid point cloud data in the temporary data cache.
4. The method for filtering invalid data of the vehicle-mounted mobile measurement system in real time according to claim 3, wherein the step of performing point cloud density filtering on the remaining point cloud data comprises the following steps:
according to the distance between adjacent point clouds and a preset point cloud density threshold value;
when the distance between adjacent point clouds is detected to be smaller than a preset point cloud density threshold value, judging the point clouds to be invalid point cloud data;
and when the distance between the adjacent cloud points is detected to be larger than a preset point cloud density threshold value, judging the point cloud to be effective point cloud data.
5. The method for filtering invalid data of the vehicle-mounted mobile measurement system according to claim 3, wherein the step of performing point cloud intensity filtering on the remaining point cloud data comprises the following steps:
according to the intensity value of the point cloud and a preset point cloud intensity threshold value;
when the intensity value of the point cloud is detected to be smaller than a preset point cloud intensity threshold value, judging the point cloud to be invalid point cloud data;
and when the intensity value of the point cloud is detected to be larger than a preset point cloud intensity threshold value, judging the point cloud to be effective point cloud data.
6. The method for filtering invalid data of the vehicle-mounted mobile measurement system in real time according to claim 3, wherein the step of performing point cloud local filtering on the remaining point cloud data comprises the following steps:
and when the local point cloud data set is detected to be the irregular discrete point cloud data set, judging that the local point cloud data set is invalid point cloud data.
7. The method for filtering the invalid data of the vehicle-mounted mobile measurement system according to claim 1, wherein after the step of deleting the rest of the sensor data corresponding to the invalid pose data at the same time in the temporary data cache according to the time information of the pose data, the method specifically comprises the following steps:
the sensor data further comprises image data;
and storing the effective image data in the temporary data cache into an effective storage file.
8. A real-time invalid data filtering system of a vehicle-mounted mobile measurement system is characterized by comprising the following components:
the data acquisition module is used for acquiring data of each sensor and storing the data of each sensor in a temporary data cache according to a preset storage time period, wherein the data of each sensor comprises pose data and point cloud data;
the pose filtering module is in communication connection with the data acquisition module and is used for filtering poses according to pose data in a preset storage time period and deleting the filtered invalid pose data in a temporary data cache;
the primary filtering module is in communication connection with the data acquisition module and the pose filtering module and is used for deleting the rest data in the sensor data corresponding to invalid pose data at the same time in a temporary data cache according to the time information of the pose data;
the point cloud filtering module is in communication connection with the data acquisition module and the primary filtering module and is used for carrying out point cloud filtering on the remaining point cloud data and deleting the filtered invalid point cloud data in the temporary data cache;
and the effective data storage module is in communication connection with the pose filtering module, the primary filtering module and the point cloud filtering module and stores effective pose data and effective point cloud data in temporary data cache into an effective storage file.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for real-time filtering of invalid data of an on-board mobile measurement system according to any one of claims 1 to 7.
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