基于环境的三维激光实时去动态物体方法

Real-time removal of dynamic objects by 3D laser based on environment

为提高三维激光传入点云算法框架的点云质量,减少移动物体对点云地图精度的影响,提出一种能够在框架前端基于环境特征的实时去除动态物体的方法。将点云投影得到深度矩阵和高度矩阵(z值矩阵),并从z值矩阵中提取出环境特征;利用环境特征将前后帧点云快速对齐;利用对齐后的前后帧点云得到z值差分矩阵进行筛选,并标记动态点云;以动态点云为中心,利用深度矩阵进行聚类,并将聚类得到的未标记点云进行标记,传入后端时舍弃标记的点云。分别在Ours数据集上以及KITTI数据集上验证了该方法的效果。

To improve the point cloud quality of the 3D laser input point cloud algorithm framework and reduce the impact of moving objects on the accuracy of the point cloud map,a method that removed dynamic objects in real time based on environmental characteristics at the front end of the framework was proposed.The point cloud was projected to obtain the depth matrix and z-value matrix,and the environmental features were extracted from the z-value matrix.Environmental features were used to quickly align the front and rear frame point clouds.Taking the dynamic point cloud as the center,the depth matrix was used for clustering,and the unlabeled point cloud obtained by clustering was labeled and the marked point cloud was discarded when it was passed to the backend.The effectiveness of the method is verified on the Ours dataset and the KITTI dataset respectively.