Environment sensing system based on laser radar

The invention discloses an environment sensing system based on a laser radar. The environment sensing system comprises the laser radar, an automatic driving automobile calibration module, a ground point cloud extraction module, a point cloud data down-sampling module and a laser radar data point cloud clustering module. According to the environment sensing system based on the laser radar, the calibration between the laser radar data and the automatic driving automobile can be completed; a stable rotation translation matrix can be used, the algorithm difficulty is low, the development and maintenance cost is low, laser radar data down-sampling can be achieved, the algorithm has a very long history by using the stable algorithm, the algorithm reliability is fully proved by various experiments, and the development and maintenance cost is low. 本发明公开了一种基于激光雷达的环境感知系统，包括激光雷达、自动驾驶汽车标定模块、地面点云提取模块、点云数据下采样模块和激光雷达数据点云聚类模块；本发明基于激光雷达的环境感知系统，可完成激光雷达数据与自动驾驶汽车之间的标定，能够使用稳定的旋转平移矩阵，其算法难度低，开发维护成本低，可实现激光雷达数据下采样，通过使用稳定的算法，本身算法具有很长的