Title：Partition method for orderly extracting point cloud on ground

Country：China

Patent No.：201310185363.2

Legal Status：Authorized

Inventor：Ying Zhou, Yiyi Ren, Junhong Lv, Wei Wang, Xiang Xie, Guolin Li, Zhihua Wang

Assignee：Tsinghua University

Address：Mailbox No. 82, Beijing 100084

Filing Date：2013-05-17

Issue Date：2016-04-20

The invention discloses a partition method for orderly extracting point cloud on ground. The method comprises the following steps: (1) a depth sensor progressively scanning scenes to be detected, setting the number of columns j to be equal to zero in a first column; (2) obtaining the part, belonging to the ground, before a cutoff point i and a local corresponding coordinate of a column point in the depth sensor depth information in the column according to the angle change relationship between adjacent points under a coordinate system of the depth sensor; (3) under the coordinate system of the depth sensor and a local coordinate system, sequentially judging whether a point after the cutoff point i belongs to the ground; (4) judging whether each column of depth sensor depth information in the scenes to be detected is processed, if the information is processed, point cloud ground part extraction is finished, and conducting a step (5), and if the information is not processed, enabling j be equal to j-1, and returning to the step (2); (5) conducting cluster partition based on distances on non-ground point cloud, and separating objects in the scenes. The method is used for partitioning point cloud on multiple road conditions, and enables the objects in the scenes to be separated from each other.

Patent Certificate： PDF/Jpg