CN117607897A - Dynamic object removing method and related device based on light projection method - Google Patents
Dynamic object removing method and related device based on light projection method Download PDFInfo
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- CN117607897A CN117607897A CN202311503288.XA CN202311503288A CN117607897A CN 117607897 A CN117607897 A CN 117607897A CN 202311503288 A CN202311503288 A CN 202311503288A CN 117607897 A CN117607897 A CN 117607897A
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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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- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The method comprises the steps of constructing a space rectangular coordinate system by taking the gravity center of a multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system; in a preset time period, controlling a multi-line laser radar to scan the detected region to obtain a laser point cloud space distribution atlas of the detected region in the preset time period; determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map; and deleting the dynamic laser point cloud, and reserving the static laser point cloud to remove dynamic objects of the detected area in the preset time period. The method can remove the dynamic object in the detected area without complex data processing process, and reduces the requirement of the dynamic object removal on hardware.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a method and an apparatus for removing a dynamic object based on a light projection method.
Background
The dynamic object removing technology is to automatically remove unnecessary dynamic objects from the point cloud map through computer graphics and computer vision technologies, so that the background is cleaner and more natural. The technology has wide application in many application fields, such as mapping, augmented reality, security monitoring and the like. The existing dynamic object removal technology has high requirements on hardware and low processing speed.
Disclosure of Invention
The present embodiment provides a method and a related device for removing a dynamic object based on a light projection method, so as to solve the above-mentioned problems in the background art.
In a first aspect, the present application provides a dynamic object removal method based on a ray projection method, including:
constructing a space rectangular coordinate system by taking the gravity center of the multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system;
in a preset time period, controlling a multi-line laser radar to scan the detected region to obtain a laser point cloud space distribution atlas of the detected region in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other;
determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map;
and deleting the dynamic laser point cloud, and reserving the static laser point cloud to remove dynamic objects of the detected area in the preset time period.
In a second aspect, the present application provides a dynamic object removal device based on a ray projection method, including:
the construction module is used for constructing a space rectangular coordinate system by taking the gravity center of the multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system;
the control module is used for controlling the multi-line laser radar to scan the detected area in a preset time period to obtain a laser point cloud space distribution graph set of the detected area in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other;
a determining module for determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map;
and the decision module is used for deleting the dynamic laser point cloud, reserving the static laser point cloud and removing the dynamic object of the detected area in the preset time period.
In a third aspect, the present application provides a terminal device, the terminal device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the dynamic object removal method based on the ray projection method as described above.
In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a dynamic object removal method based on a ray projection method as described above.
The application provides a dynamic object removing method and a related device based on a ray projection method, wherein the method comprises the steps of constructing a space rectangular coordinate system by taking the gravity center of a multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system; in a preset time period, controlling a multi-line laser radar to scan the detected region to obtain a laser point cloud space distribution atlas of the detected region in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other; determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map;
and deleting the dynamic laser point cloud, and reserving the static laser point cloud to remove dynamic objects of the detected area in the preset time period. The method can remove the dynamic object in the detected area without complex data processing process, reduces the requirement of the dynamic object removal on hardware, is easy to implement, and improves the efficiency of the dynamic object removal.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a dynamic object removal method based on a ray projection method according to an embodiment of the present application;
FIG. 2 is a schematic block diagram of a dynamic object removing device based on a ray projection method according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may also be split, combined, or partially combined, so that the order of actual execution may vary based on actual circumstances.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
The dynamic object removing technology is to automatically remove unnecessary dynamic objects from the point cloud map through computer graphics and computer vision technologies, so that the background is cleaner and more natural. The technology has wide application in many application fields, such as mapping, augmented reality, security monitoring and the like. The existing dynamic object removal technology has high requirements on hardware and low processing speed. Therefore, the embodiments of the present application provide a method for removing a dynamic object based on a ray projection method and a related device, so as to solve the above-mentioned problems.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a flowchart of a dynamic object removing method based on a light projection method according to an embodiment of the present application, and as shown in fig. 1, the dynamic object removing method based on a light projection method according to an embodiment of the present application includes steps S100 to 400.
And S100, constructing a space rectangular coordinate system by taking the gravity center of the multi-line laser radar as an origin, and constructing a space grid map of the detected area in the space rectangular coordinate system.
The detected area can be a mapping area, a security monitoring area and the like, each grid in the space grid map corresponds to a unique space coordinate point, each grid is a three-dimensional graph with identical shape and size, the diameter of an externally connected sphere of the three-dimensional graph is not more than 0.5 millimeter, and the space coordinate point of each grid is a space coordinate point corresponding to the sphere center of the externally connected sphere of the three-dimensional graph corresponding to each grid. It can be understood that the smaller the diameter of the outer sphere of the three-dimensional graph is, the more accurate determination of the dynamic laser point cloud and the static laser point cloud is facilitated in the subsequent processing process, and it can be understood that the positions of the dynamic laser point cloud and the static laser point cloud can be determined more accurately in the subsequent processing process by constructing the space grid map of the detected area in the space rectangular coordinate system, so that the accuracy of removing the dynamic object is improved.
Step 200, controlling a multi-line laser radar to scan the detected region in a preset time period to obtain a laser point cloud space distribution chart set of the detected region in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other.
It will be appreciated that when the laser light emitted by the multi-line lidar encounters a physical object, the laser light emitted by the multi-line lidar is reflected, thereby forming a laser point cloud. And in the preset time period, if a moving object exists in the detected area, controlling the multi-line laser radar to scan the detected area in the preset time period, so that different laser point cloud space distribution diagrams can be obtained.
In the preset time period, when the multi-line laser radar scans the detected area, a laser point cloud space distribution map formed when the laser radar scans the detected area needs to be obtained in real time, that is, the laser point cloud space distribution map set is equivalent to a video, and the change condition of the laser point cloud space distribution in the detected area in the preset time period can be observed through the video.
And step S300, determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud space distribution atlas and the space grid map.
It may be understood that the dynamic laser point cloud is a laser point cloud corresponding to a dynamic object in the detection area in the preset time period, and the static laser point cloud is a laser point cloud corresponding to a static object in the detection area in the preset time period.
And step 400, deleting the dynamic laser point cloud, and reserving the static laser point cloud to remove dynamic objects of the detected area in the preset time period.
According to the method provided by the embodiment, firstly, a space rectangular coordinate system is built by taking the center of gravity of the multi-line laser radar as an origin, a space grid map of a detected area is built in the space rectangular coordinate system, then, the multi-line laser radar is controlled to scan the detected area in a preset time period, a laser point cloud space distribution atlas of the detected area in the preset time period is obtained, finally, a dynamic laser point cloud and a static laser point cloud are determined based on the laser point cloud space distribution atlas and the space grid map, the dynamic laser point cloud is deleted, the static laser point cloud is reserved, dynamic objects in the detected area in the preset time period can be removed without a complex data processing process, the requirement of dynamic object removal on hardware is reduced, the implementation is easy, and the dynamic object removal efficiency is improved.
In some embodiments, the determining a dynamic laser point cloud and a static laser point cloud based on the set of laser point cloud spatial distribution maps and the spatial grid map comprises the steps of:
mapping the space grid map to each laser point cloud space distribution map in the laser point cloud space distribution map set respectively to obtain a laser point cloud space distribution map set;
determining the times of each grid in the space grid map being hit by laser and the times of each grid being broken down by laser based on the laser point cloud space distribution atlas;
comparing the number of times the grid is hit by laser with the number of times the grid is broken down by laser for each grid in the space grid;
if the number of times that the grid is hit is smaller than the number of times that the grid is broken down, determining the grid as a dynamic grid, and determining laser point clouds in the dynamic grid as dynamic point clouds;
and if the number of times that the grid is hit is not less than the number of times that the grid is broken down, determining the grid as a static grid, and determining laser point clouds in the static grid as static point clouds.
It can be understood that after the space grid map is mapped onto the laser point cloud space distribution diagram, the laser point cloud on the laser point cloud space distribution diagram can be accurately positioned, that is, the laser point cloud can be accurately positioned through the space coordinate points of the grid where the laser point cloud is located.
It will be appreciated that for any grid in the space grid map, when there is a real object in the grid, the laser emitted by the multi-line laser radar will form a reflection when encountering the grid, a laser point cloud will be formed in the grid, indicating that the grid is hit, when there is no real object in the grid, the laser will pass through the grid, and no laser point cloud will be formed in the grid, indicating that the grid is penetrated.
The method for determining the number of times that each grid in the space grid map is hit by laser and the number of times that each grid is broken down by laser based on the laser point cloud space distribution map set comprises the following steps:
determining the number of times of laser point clouds and the number of times of laser point clouds which do not appear in each grid in the space grid map based on the laser point cloud space distribution map set;
for each grid in the space grid map, determining the number of times of laser point clouds in the grid as the number of times of laser hitting the grid, and determining the number of times of laser point clouds not in the grid as the number of times of laser breakdown of the grid.
The specific method for determining the number of times of occurrence of laser point clouds and the number of times of non-occurrence of laser point clouds in the grids based on the laser point cloud space distribution map set is to check whether the grids have laser point clouds in each of the laser point cloud space distribution maps in the laser point cloud space distribution map set, determine the number of laser point cloud space distribution maps in which the laser point clouds occur in the grids as the number of times of occurrence of laser point clouds in the grids, and determine the number of laser point cloud space distribution maps in which the laser point clouds do not occur in the grids as the number of times of non-occurrence of laser point clouds in the grids.
According to the method provided by the embodiment, the dynamic laser point cloud and the static laser point cloud are determined according to the times that each grid in the space grid map is hit and the times that each grid is broken down, and the method for determining the dynamic laser point cloud and the static laser point cloud is simple and easy to implement and is beneficial to improving the efficiency of removing dynamic objects.
In some embodiments, the determining a dynamic laser point cloud and a static laser point cloud based on the set of laser point cloud spatial distribution maps and the spatial grid map comprises the steps of:
mapping the space grid map to each laser point cloud space distribution map in the laser point cloud space distribution map set respectively to obtain a laser point cloud space distribution map set;
determining a target grid based on the laser point cloud spatial distribution atlas; the target grid is a grid hit by laser in the preset time period;
determining the times of each target grid hit by laser and the times of laser breakdown based on the laser point cloud space distribution atlas;
comparing the number of times the target grid is hit by laser with the number of times the target grid is broken down by laser for each target grid;
if the number of times that the target grid is hit by laser is smaller than the number of times that the target grid is broken down by laser, determining the target grid as a dynamic grid, and determining laser point clouds in the dynamic grid as dynamic laser point clouds;
and if the number of times that the target grid is hit by laser is not less than the number of times that the target grid is broken down by laser, determining the target grid as a static grid, and determining laser point clouds in the static grid as static laser point clouds.
It can be understood that after the space grid map is mapped onto the laser point cloud space distribution diagram, the laser point cloud on the laser point cloud space distribution diagram can be accurately positioned, that is, the laser point cloud can be accurately positioned through the space coordinate points of the grid where the laser point cloud is located.
It will be appreciated that for any grid in the space grid map, when there is a real object in the grid, the laser emitted by the multi-line laser radar will form a reflection when encountering the grid, a laser point cloud will be formed in the grid, indicating that the grid is hit, when there is no real object in the grid, the laser will pass through the grid, and no laser point cloud will be formed in the grid, indicating that the grid is penetrated. Thus, a grid that is hit by the laser light is a grid that indicates that a cloud of laser points is present.
The method for determining the number of times of the target grids being hit by laser and the number of times of the target grids being broken down by laser based on the laser point cloud space distribution atlas comprises the following steps:
determining the number of times of occurrence of laser point clouds and the number of times of non-occurrence of the laser point clouds in the target grids based on the laser point cloud space distribution atlas for each target grid;
for each target grid, determining the number of times of laser point clouds in the target grid as the number of times of laser hitting of the target grid, and determining the number of times of laser point clouds not in the target grid as the number of times of laser breakdown of the target grid.
The specific method for determining the number of times of occurrence of laser point clouds and the number of times of non-occurrence of laser point clouds in the target grids based on the laser point cloud space distribution map set is to check whether the laser point clouds appear in each of the laser point cloud space distribution maps in the target grids, determine the number of the laser point cloud space distribution maps in which the laser point clouds appear in the target grids as the number of times of occurrence of the laser point clouds in the target grids, and determine the number of the laser point cloud space distribution maps in which the laser point clouds do not appear in the target grids as the number of times of non-occurrence of the laser point clouds in the target grids.
The method provided by the embodiment determines a target grid based on the laser point cloud space distribution atlas, and then determines a dynamic laser point cloud and a static laser point cloud based on the times of laser hitting and the times of laser breakdown of each target grid. Because the method provided by the embodiment does not perform the hit and breakdown analysis on each grid in the space grid map, but only performs the hit and breakdown analysis on the target grid with the laser point cloud, thereby determining the static laser point cloud and the dynamic laser point cloud, the method provided by the embodiment can further simplify the data processing process, is beneficial to saving the memory and the computing resources of hardware, and further improves the efficiency of removing the dynamic object.
In some embodiments, the method further comprises the steps of:
judging whether the static grids adjacent to the dynamic grids exist or not according to the dynamic grids;
for each dynamic grid, if the static grid adjacent to the dynamic grid exists, determining first target timestamp information and second target timestamp information based on the laser point cloud space distribution atlas; the first target time stamp information is time stamp information of the dynamic grid hit by laser, and the second target time stamp information is time stamp information of the static grid adjacent to the dynamic grid hit by laser; wherein the second target timestamp information includes one or more;
and comparing the first target time stamp information corresponding to the dynamic grids with the second target time stamp information corresponding to the dynamic grids, and determining the static grids corresponding to the second target time stamp information completely consistent with the first target time stamp information as dynamic grids.
It is understood that each of the second target time stamp information corresponding to the dynamic grid refers to time stamp information of each of the static grids adjacent to the dynamic grid hit by laser light. And if the time stamp information of the static grid hit by the laser adjacent to the dynamic grid is consistent with the time stamp information of the dynamic grid hit by the laser, the laser point cloud in the static grid adjacent to the dynamic grid is also a dynamic laser point cloud.
The method provided by the embodiment can solve the problem of omission of the dynamic grid, thereby improving the accuracy of the dynamic laser point cloud and the static laser point cloud and further improving the accuracy of the dynamic object removal.
Referring to fig. 2, fig. 2 is a schematic block diagram of a dynamic object removing apparatus 100 according to an embodiment of the present application, and as shown in fig. 2, the dynamic object removing apparatus 100 according to the light projection method includes:
the construction module 110 is configured to construct a space rectangular coordinate system with the center of gravity of the multi-line laser radar as an origin, and construct a space grid map of the detected area in the space rectangular coordinate system.
The control module 120 is configured to control the multi-line laser radar to scan the detected region in a preset time period, so as to obtain a laser point cloud space distribution atlas of the detected region in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other.
A determining module 130 is configured to determine a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map.
And the decision module 140 is configured to delete the dynamic laser point cloud, and reserve the static laser point cloud to remove the dynamic object in the detected area within the preset time period.
It should be noted that, for convenience and brevity of description, the specific working process of the above-described apparatus and each module may refer to the corresponding process in the foregoing embodiment of the dynamic object removal method based on the light projection method, which is not described herein again.
The dynamic object removing apparatus 100 based on the light projection method provided in the above-described embodiment may be implemented in the form of a computer program that can be run on the terminal device 200 as shown in fig. 3.
Referring to fig. 3, fig. 3 is a schematic block diagram of a structure of a terminal device 200 according to an embodiment of the present application, where the terminal device 200 includes a processor 201 and a memory 202, and the processor 201 and the memory 202 are connected through a system bus 203, and the memory 202 may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store a computer program. The computer program comprises program instructions that, when executed by the processor 201, cause the processor 201 to perform any of the above-described dynamic object removal methods based on ray-casting.
The processor 201 is used to provide computing and control capabilities supporting the operation of the overall terminal device 200.
The internal memory provides an environment for the execution of a computer program in a non-volatile storage medium that, when executed by the processor 201, causes the processor 201 to perform any of the dynamic object removal methods described above that are based on ray-projection methods.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation of the terminal device 200 related to the present application, and that a specific terminal device 200 may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
It should be appreciated that the processor 201 may be a central processing unit (Central Processing Unit, CPU), and the processor 201 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In some embodiments, the processor 201 is configured to execute a computer program stored in the memory to implement the following steps:
constructing a space rectangular coordinate system by taking the gravity center of the multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system;
in a preset time period, controlling a multi-line laser radar to scan the detected region to obtain a laser point cloud space distribution atlas of the detected region in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other;
determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map;
and deleting the dynamic laser point cloud, and reserving the static laser point cloud to remove dynamic objects of the detected area in the preset time period.
Embodiments of the present application also provide a computer-readable storage medium storing a computer program that, when executed by one or more processors, causes the one or more processors to implement a dynamic object removal method based on a ray projection method as provided in the embodiments of the present application.
The computer readable storage medium may be an internal storage unit of the terminal device 200 of the foregoing embodiment, for example, a hard disk or a memory of the terminal device 200. The computer readable storage medium may also be an external storage device of the terminal device 200, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which the terminal device 200 is equipped with.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method for removing a dynamic object based on a ray projection method, comprising:
constructing a space rectangular coordinate system by taking the gravity center of the multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system;
in a preset time period, controlling a multi-line laser radar to scan the detected region to obtain a laser point cloud space distribution atlas of the detected region in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other;
determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map;
and deleting the dynamic laser point cloud, and reserving the static laser point cloud to remove dynamic objects of the detected area in the preset time period.
2. The method of claim 1, wherein the determining a dynamic laser point cloud and a static laser point cloud based on the set of spatial distribution maps of the laser point cloud and the spatial grid map comprises:
mapping the space grid map to each laser point cloud space distribution map in the laser point cloud space distribution map set respectively to obtain a laser point cloud space distribution map set;
determining the times of each grid in the space grid map being hit by laser and the times of each grid being broken down by laser based on the laser point cloud space distribution atlas;
comparing the number of times the grid is hit by laser with the number of times the grid is broken down by laser for each grid in the space grid;
if the number of times that the grid is hit is smaller than the number of times that the grid is broken down, determining the grid as a dynamic grid, and determining laser point clouds in the dynamic grid as dynamic point clouds;
and if the number of times that the grid is hit is not less than the number of times that the grid is broken down, determining the grid as a static grid, and determining laser point clouds in the static grid as static point clouds.
3. The method for removing dynamic objects based on the light projection method according to claim 2, wherein the determining the number of times each grid in the space grid map is hit by laser and the number of times is broken down by laser based on the laser point cloud space distribution map set comprises:
determining the number of times of laser point clouds and the number of times of laser point clouds which do not appear in each grid in the space grid map based on the laser point cloud space distribution map set;
for each grid in the space grid map, determining the number of times of laser point clouds in the grid as the number of times of laser hitting the grid, and determining the number of times of laser point clouds not in the grid as the number of times of laser breakdown of the grid.
4. The method of claim 1, wherein the determining a dynamic laser point cloud and a static laser point cloud based on the set of spatial distribution maps of the laser point cloud and the spatial grid map comprises:
mapping the space grid map to each laser point cloud space distribution map in the laser point cloud space distribution map set respectively to obtain a laser point cloud space distribution map set;
determining a target grid based on the laser point cloud spatial distribution atlas; the target grid is a grid hit by laser in the preset time period;
determining the times of each target grid hit by laser and the times of laser breakdown based on the laser point cloud space distribution atlas;
comparing the number of times the target grid is hit by laser with the number of times the target grid is broken down by laser for each target grid;
if the number of times that the target grid is hit by laser is smaller than the number of times that the target grid is broken down by laser, determining the target grid as a dynamic grid, and determining laser point clouds in the dynamic grid as dynamic laser point clouds;
and if the number of times that the target grid is hit by laser is not less than the number of times that the target grid is broken down by laser, determining the target grid as a static grid, and determining laser point clouds in the static grid as static laser point clouds.
5. The dynamic object removing method based on the ray projection method according to claim 2 or 4, further comprising:
judging whether the static grids adjacent to the dynamic grids exist or not according to the dynamic grids;
for each dynamic grid, if the static grid adjacent to the dynamic grid exists, determining first target timestamp information and second target timestamp information based on the laser point cloud space distribution atlas; the first target time stamp information is time stamp information of the dynamic grid hit by laser, and the second target time stamp information is time stamp information of the static grid adjacent to the dynamic grid hit by laser; wherein the second target timestamp information includes one or more;
and comparing the first target time stamp information corresponding to the dynamic grids with the second target time stamp information corresponding to the dynamic grids, and determining the static grids corresponding to the second target time stamp information completely consistent with the first target time stamp information as dynamic grids.
6. A dynamic object removal device based on a ray projection method, comprising:
the construction module is used for constructing a space rectangular coordinate system by taking the gravity center of the multi-line laser radar as an origin, and constructing a space grid map of a detected area in the space rectangular coordinate system;
the control module is used for controlling the multi-line laser radar to scan the detected area in a preset time period to obtain a laser point cloud space distribution graph set of the detected area in the preset time period; the laser point cloud space distribution atlas comprises a plurality of laser point cloud space distribution maps, and time stamps corresponding to the laser point cloud space distribution maps are different from each other;
a determining module for determining a dynamic laser point cloud and a static laser point cloud based on the laser point cloud spatial distribution atlas and the spatial grid map;
and the decision module is used for deleting the dynamic laser point cloud, reserving the static laser point cloud and removing the dynamic object of the detected area in the preset time period.
7. A terminal device comprising a processor, a memory and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor implements the dynamic object removal method based on the ray projection method according to any one of claims 1 to 5.
8. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, wherein the computer program, when executed by a processor, implements the dynamic object removal method based on the ray projection method according to any one of claims 1 to 5.
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