基于三维不规则点云的地面分割算法

doi:10.13229/j.cnki.jdxbgxb201705009

吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (5): 1387-1394.doi: 10.13229/j.cnki.jdxbgxb201705009

基于三维不规则点云的地面分割算法

张名芳¹, 付锐^{1, 2}, 郭应时¹, 石涌泉¹, 程文冬^{1, 3}

1.长安大学汽车学院, 西安 710064;
2.长安大学汽车运输安全保障技术交通行业重点实验室, 西安 710064;
3.西安工业大学机电工程学院,西安 710032

收稿日期:2016-05-10 出版日期:2017-09-20 发布日期:2017-09-20
作者简介:张名芳(1989-),女,博士研究生.研究方向:智能车辆环境感知技术.E-mail:mingfangzhang@163.com
基金资助:
国家自然科学基金项目(61473046); 长江学者和创新团队发展计划项目(IRT1286); 陕西省教育厅专项科研计划项目(16JK1375); 中央高校基本科研业务费专项项目(310822151028,310822172001)

Road segmentation method based on irregular three dimensional point cloud

ZHANG Ming-fang¹, FU Rui^{1, 2}, GUO Ying-shi¹, SHI Yong-quan¹, Cheng Wen-dong^{1, 3}

1.School of Automobile, Chang'an University, Xi'an 710064, China;
2.Key Laboratory of Automotive Transportation Safety Technology, Ministry of Transport, Chang'an University, Xi'an 710064, China;
3.School of Mechatronic Engineering, Xi'an Technological University, Xi'an 710032, China

Received:2016-05-10 Online:2017-09-20 Published:2017-09-20

摘要/Abstract

摘要： 为解决智能车辆环境感知模块在地面分割过程中存在的分割不足和过度分割问题,提出了一种基于三维不规则点云的地面分割算法。首先,采用多标签的马尔科夫随机场理论构建极坐标系网格地图,根据网格单元的不同点云分布类型建立多种测量代价函数模型;然后,整合局部平滑性和斜坡假设,建立平滑性代价函数模型,保证网格间地面高度的不连续性;最后,利用环状置信传播算法进行多次消息传递,迭代估计每个网格单元内最大信任的地面高度值,实现地面点与非地面点的分割。通过对简单粗糙路面场景和复杂斜坡场景中采集的不规则点云数据集进行实验分析,验证了本文算法在不同环境下分割地面点与非地面点的准确性和鲁棒性。

关键词: 车辆工程, 地面分割, 环状置信传播, 马尔科夫随机场, 代价函数, 点云分布

Abstract: Under-segmentation and over-segmentation exist in the process of road segmentation for the environment system of intelligent vehicle. To solve such problem, a road segmentation method based on loopy belief propagation algorithm is proposed. First, multiple label Markov Random Field is applied to build grid map in the polar coordinate system, and several measurement cost function models are constructed based on the point distribution in each grid cell. Next, the local smoothness and slop hypothesis are integrated to establish smoothness cost function model and ensure the discontinuity of the ground height among the grids. Finally, the loopy belief propagation algorithm is employed to transmit the message repeatedly, and the road height of each grid is estimated with the largest belief to segment the road points. Experiment results show that the proposed method has better road segmentation performance than other methods, especially for rough or sloped road conditions.

Key words: vehicle engineering, road segmentation, loopy belief propagation, Markov random field, cost function, point cloud distribution

中图分类号:

U461

张名芳, 付锐, 郭应时, 石涌泉, 程文冬. 基于三维不规则点云的地面分割算法[J]. 吉林大学学报(工学版), 2017, 47(5): 1387-1394.

ZHANG Ming-fang, FU Rui, GUO Ying-shi, SHI Yong-quan, Cheng Wen-dong. Road segmentation method based on irregular three dimensional point cloud[J]. 吉林大学学报(工学版), 2017, 47(5): 1387-1394.

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基于三维不规则点云的地面分割算法

Road segmentation method based on irregular three dimensional point cloud

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