无人车平台激光点云中线特征提取

doi:10.13474/j.cnki.11-2246.2019.0039

测绘通报 ›› 2019, Vol. 0 ›› Issue (2): 32-38.doi: 10.13474/j.cnki.11-2246.2019.0039

无人车平台激光点云中线特征提取

蔡斌斌¹, 李必军^1,2

1. 武汉大学测绘遥感信息工程国家重点实验室, 湖北武汉 430079;
2. 时空数据智能获取技术与应用教育部工程研究中心, 湖北武汉 430079

收稿日期:2018-05-28 出版日期:2019-02-25 发布日期:2019-03-05
通讯作者: 李必军。E-mail:lee@whu.edu.cn E-mail:lee@whu.edu.cn
作者简介:蔡斌斌(1993-),男,硕士生,主要研究无人车高精度地图的构建和应用。E-mail:caibinbin@whu.edu.cn
基金资助:
国家自然科学基金（41671441；U1764262）

Line feature extraction from LiDAR point cloud of unmanned vehicle platform

CAI Binbin¹, LI Bijun^1,2

1. State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, China;
2. Engineering Research Center for Spatio-temporal Data Smart Acquisition and Application, Ministry of Education of China, Wuhan 430079, China

Received:2018-05-28 Online:2019-02-25 Published:2019-03-05

摘要/Abstract

摘要：

随着无人平台的应用越来越广泛，由激光点云提取线特征构建高精度特征地图已成为研究的重点。本文基于深度图像中的二维线特征，提出了一种新的几何模型对其进行优化，得到准确的三维线特征，并使用贝叶斯滤波对多帧结果进行融合，提高了三维再线特征的精度和准确率。

关键词: 激光点云, 深度图像, 边缘检测, 线特征提取, 贝叶斯滤波

Abstract:

As the application of unmanned platforms is becoming more and more widespread, building high-precision feature maps by extracting line features from LiDAR point cloud has also become the focus of research. In this paper, a new geometric model is proposed to obtain accurate 3D line features based on the 2D line features of the depth image. The Bayesian filter is used to fuse the results of multiple frames to improve the precision and accuracy of the 3D line features.

Key words: LiDAR, depth image, edge detection, line target extraction, Bayes filter

中图分类号:

P237

蔡斌斌, 李必军. 无人车平台激光点云中线特征提取[J]. 测绘通报, 2019, 0(2): 32-38.

CAI Binbin, LI Bijun. Line feature extraction from LiDAR point cloud of unmanned vehicle platform[J]. 测绘通报, 2019, 0(2): 32-38.

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无人车平台激光点云中线特征提取

Line feature extraction from LiDAR point cloud of unmanned vehicle platform

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