吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (3): 933-940.doi: 10.13229/j.cnki.jdxbgxb20221057
• 通信与控制工程 • 上一篇
基于平面拟合的地面点云精确分割方法
王春阳1,2(
),丘文乾2,刘雪莲1(),肖博3,施春皓2
- 1.西安工业大学 西安市主动光电成像探测技术重点实验室，西安 710021
2.长春理工大学 电子信息工程学院，长春 130022
3.西安工业大学 光电工程学院，西安 710021
Accurate segmentation method of ground point cloud based on plane fitting
Chun-yang WANG1,2(),Wen-qian QIU2,Xue-lian LIU1(),Bo XIAO3,Chun-hao SHI2
- 1.Xi'an Key Laboratory of Active Photoelectric Imaging Detection Technology，Xi'an Technological University，Xi'an 710021，China
2.College of Electronic and Information Engineering，Changchun University of Science and Technology，Changchun 130022，China
3.School of Optoelectronic Engineering，Xi'an Technological University，Xi'an 710021，China
摘要：
针对点云数据中的地面点会影响环境感知的精度与速度的问题，提出了一种基于平面拟合的地面点云精确分割方法。首先，根据投影距离将场景点云分为多个区域；其次，根据区域内的平均高度、分割地面点和地平面法向量的方向，确定地面平面拟合点并对地面平面进行拟合；最后，根据点到地面平面的距离，实现地面分割。本文基于KITTI数据集和实采数据将本文算法与RANSAC、GPF、R-GPF和PatchWork四种算法进行了对比，验证了区域划分、拟合点筛选以及地面平面法向量方向筛选对地面分割的有效性。实验结果表明，进行区域划分后，可以分割远距离稀疏地面；进行拟合点筛选后，在低迭代的条件下地面分割准确率达到0.9417；进行地平面法向量方向筛选后，能够避免将墙面拟合成地面；本文方法在F1分数、召回率和准确率上优于所对比的4种算法，速度可以达到42.78 Hz，能够精确、快速地对地面进行分割。
中图分类号:
- TN911.7
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