汽车工程 ›› 2022, Vol. 44 ›› Issue (7): 987-996.doi: 10.19562/j.chinasae.qcgc.2022.07.005
所属专题: 智能网联汽车技术专题-感知&HMI&测评2022年
金立生1,2,贺阳1,王欢欢1,霍震1,谢宪毅1,郭柏苍1()
收稿日期:
2021-12-30
修回日期:
2022-02-13
出版日期:
2022-07-25
发布日期:
2022-07-20
通讯作者:
郭柏苍
E-mail:guobaicang@ysu.edu.cn
基金资助:
Lisheng Jin1,2,Yang He1,Huanhuan Wang1,Zhen Huo1,Xianyi Xie1,Baicang Guo1()
Received:
2021-12-30
Revised:
2022-02-13
Online:
2022-07-25
Published:
2022-07-20
Contact:
Baicang Guo
E-mail:guobaicang@ysu.edu.cn
摘要:
针对路侧采集的激光雷达点云数据随距离增大而密度下降导致同一目标的点云被分割成多个目标的问题,提出了一种基于自适应阈值DBSCAN的路侧点云分割算法。首先,使用改进GPF和直通滤波对采集的路侧点云进行过滤,提取出道路区域上的非地面点云;然后,基于有效距离和sigmoid函数构建自适应系数函数,对DBSCAN聚类算法集群生长中近邻点搜索时半径阈值的选取规则进行优化;最后,利用自适应阈值DBSCAN聚类算法对非地面点进行聚类,得到隶属于单个目标的点云。采集了1 055帧真实场景的连续数据进行测试,结果显示:C-H系数平均约增加3倍、D-B系数平均减少4.52%、轮廓系数平均增加77.78%,这表明基于自适应阈值DBSCAN的分割算法能提高点云簇的类内一致性和类间差异性,有效减少路侧激光雷达点云的过分割现象,具有较高的工程应用价值。
金立生,贺阳,王欢欢,霍震,谢宪毅,郭柏苍. 基于自适应阈值DBSCAN的路侧点云分割算法[J]. 汽车工程, 2022, 44(7): 987-996.
Lisheng Jin,Yang He,Huanhuan Wang,Zhen Huo,Xianyi Xie,Baicang Guo. Point Cloud Segmentation Algorithm Based on Adaptive Threshold DBSCAN for Roadside LiDAR[J]. Automotive Engineering, 2022, 44(7): 987-996.
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