Method and apparatus for urban road recognition based on laser point cloud, storage medium, and device
US10430659B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 8, 2015 |
| Grant date | Oct 1, 2019 |
| Priority date | — |
| Expiry date | Mar 5, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Embodiments of the present disclosure disclose a method and apparatus for urban road recognition based on a laser point cloud. The method comprises: constructing a corresponding road edge model according to the laser point cloud acquired by a laser sensor; determining a height of a mobile carrier provided with the laser sensor and constructing a corresponding road surface model based on the height and the laser point cloud; eliminating a road surface point cloud and a road edge point cloud in the laser point cloud according to the road edge model and the road surface model, segmenting a remaining laser point cloud using a point cloud segmentation algorithm, and recognizing an object corresponding to a segmenting result. By estimating the height of the mobile carrier according to the laser point cloud and constructing a corresponding road surface model using the height, the efficiency and accuracy of constructing the road surface model are improved, thereby improving the efficiency and accuracy of recognizing corresponding objects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.