17-02-2022 дата публикации
Номер: US20220051052A1
Принадлежит:
A ground extraction method for 3D point clouds of outdoor scenes based on Gaussian process regression, including: (1) obtaining the 3D point cloud of an outdoor scene, (2) building the neighborhood of the 3D point cloud, (3) calculating the covariance matrices and normal vectors of the 3D point cloud, (4) classifying the 3D point cloud according to its neighborhood shape, (5) extracting the initial ground G, (6) segmenting the initial ground, (7) 2D Gaussian process regression, (8) finding the neighborhood Nof each ground fragment LG, and (9) extracting the final ground G. 1step 1: obtaining a 3D point cloud of an outdoor scene by using a laser rangefinder, wherein the 3D point cloud of the outdoor scene is a set of discrete points;{'sub': i', 'i', 'i', 'i', 'n', 'i', 'i', 'n', 'i, 'step 2: building a neighborhood of the 3D point cloud, comprising: constructing a structure tree of the 3D point cloud by using a KD-tree algorithm, dividing the 3D point cloud into different spatial regions according to coordinates of the discrete points in the 3D point cloud, using spatial address information to search neighboring points in the process of the neighborhood construction, and building the neighborhood N={p=(x,y,z)|1≤i≤n} of a given point p=(x,y,z) in the 3D point cloud, wherein pis a neighboring point of the given point p=(x,y,z), i is the serial number of the neighboring points p, and nis the number of the neighboring points p;'}{'sub': i', 'i', 'i', 'i', 'n', '1', '2', '3', '1', '2', '3, 'step 3: calculating covariance matrices and normal vectors of the 3D point cloud, wherein for the given point p=(x,y,z) in the 3D point cloud, a covariance matrix M is constructed by using its neighborhood N={p=(x,y,z)|1≤i≤n}, and eigenvalues λ,λ,λand eigenvectors v,v,vof the covariance matrix M and a normal vector n of the given point p are computed; and step 3 comprises the following substeps{'sub': i', 'i', 'i', 'i', 'n, '(a) building the neighborhood N={p=(x,y,z)|1≤i≤n} of the ...
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