Cross line determining method and device

The invention discloses a cross line determining method and device. The method comprises the steps that point cloud data scanned by a laser radar device are acquired; mesh generation is carried out on the point cloud data, and null data are removed from the point cloud data according to the vertical spatial characteristic of point cloud information; the point cloud data after removing are traversed; and a cross line is determined through a clustering and random sampling consistent algorithm. According to the invention, precise cross line identification and positioning are realized. 本发明公开了种交跨线确定方法和装置。该方法包括：获取激光雷达设备扫描的点云数据；对所述点云数据进行网格划分，依据点云信息的垂直空间特性，对所述点云数据进行无效数据的剔除；对剔除后的点云数据进行遍历，通过聚类和随机抽样致算法确定交跨线。本方案实现了交跨线的精确识别和定位。