激光雷达云数据视场交迭异常监测系统

Lidar Cloud Data Field of View Overlay Anomaly Monitoring System

激光雷达扫描得到的点云数据以欧氏距离和交并比作为阈值对异常情况监测。但是,视场交迭异常对这两个二维参数的阈值突破不敏感,因此设计激光雷达云数据视场交迭异常监测系统。运用监测模块分析激光雷达点云数据,获取数据视场交迭系数。利用回声信号采集模块对数据进行高速计数累积和缓存。增加激光雷达云数据视场交迭区域可见光谱的范围,将拷贝的数据传送给数据监控模块。设置激光雷达点云数据监控节点,按照顺序取值划分异常阈值,利用其能够迅速精准捕捉视场交迭异常,实现异常监测。实验结果表明,所设计系统监测精准度高,虚警率与漏警率低,在激光雷达云数据处理领域具有较好的应用前景。

Euclidean distance and intersection/union ratio as thresholds are used to monitor the abnormal conditions for the point cloud data obtained by Lidar scanning.However,the field of view overlap anomaly is not sensitive to the threshold breakthrough of these two two-dimensional parameters,so a Lidar cloud data field of view overlap anomaly monitoring system is designed.The monitoring module is used to analyze the Lidar point cloud data and obtain the overlapping coefficient of data field of view.The echo signal acquisition module is used to count,accumulate and buffer the data at high speed.The range of the visible spectrum in the overlapping area of the Lidar cloud data field of view is increased,and the copied data are transferred to the data monitoring module.The Lidar point cloud data monitoring node is set,the anomaly threshold value is divided according to the order,and it is used to quickly and accurately capture the field of view overlapping anomaly,so as to achieve anomaly monitoring.The experimental results show that the designed system has high monitoring ac-curacy,false alarm rate and low miss alarm rate,and has good application prospects in the field of Lidar cloud data processing.