不同滤波方法对二维激光雷达点云数据处理的影响

Influence of Different Filter Methods on 2D Laser Radar Point Cloud Data Processing

针对二维激光雷达数据存在噪声误差的问题,分别采取了线性最小二乘滤波、移动平均滤波、中值滤波、Savitzky-Golay(SG)滤波等方法对点云数据进行了平滑处理。利用实验数据对采用的方法进行了分析,结果表明所采用滤波方法都能够有效地对数据中的噪声误差进行过滤,但需要根据实际情况选用合适的滤波方式以获得最好的滤波效果。

For the problem of noise error of 2D laser radar point cloud data,Linear Least Square Filter,Moving Average Filter,Median Filter and Savitzky-Golay Filter are used to smooth cloud point data.In this paper,the experimental data are used to analyze these filtering methods,and the results show that these methods can effectively filter the noise error in test data,but it is necessary to select an appropriate filtering method according to the actual situation to obtain the best filtering results.