Vehicle-mounted laser radar point cloud segmentation method and system

The invention relates to a vehicle-mounted laser radar point cloud segmentation method and system, and belongs to the technical field of three-dimensional laser radar point cloud data processing. The method comprises the following steps: rasterizing laser radar point cloud data in a region of interest, selecting seed point cloud data from each grid by using a set elevation threshold range, and determining an initial ground point cloud in the region of interest by using a region growing method and the selected seed point cloud data; determining a ground fitting equation according to the initial ground point cloud, calculating a ground height corresponding to each piece of laser radar point cloud data by using the ground fitting equation, screening a difference value between the ground height of the laser radar point cloud and an elevation value through a set ground threshold value, and judging whether each piece of laser radar point cloud is a ground point cloud or not; therefore, segmentation of the laser rad