Method for detecting retaining wall and obstacle behind vehicle in unloading region of mining region
The invention discloses a method for detecting a retaining wall and an obstacle behind a vehicle in an unloading region of a mining region. The method comprises the following steps of: carrying out noise point removal based on a connected domain on a three-dimensional point cloud of an environment b...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention discloses a method for detecting a retaining wall and an obstacle behind a vehicle in an unloading region of a mining region. The method comprises the following steps of: carrying out noise point removal based on a connected domain on a three-dimensional point cloud of an environment behind the vehicle, which is acquired by a laser radar sensor; carrying out height interval division on the three-dimensional point cloud after the noise points are removed, and distinguishing the condition that only the retaining wall point cloud exists based on the dispersion of the points in the height direction; based on the height difference and the slope angle between the maximum point and the minimum point of the three-dimensional point cloud in the x direction, judging whether the three-dimensional point cloud is ground point cloud or ground and retaining wall point cloud; further distinguishing the ground point cloud and the retaining wall point cloud based on the change of the slope aiming at the condition |
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