Laser point cloud based urban road recognition method, device, storage medium and device

摘要

An embodiment of the present disclosure discloses a laser road cloud-based urban road recognition method and apparatus. The method comprises the steps of: building a corresponding roadside model based on a laser point cloud collected with a laser sensor; Determining the height of the mobile carrier on which the laser sensor is installed and constructing a corresponding road surface model based on the height and the laser point cloud; And removing the road surface point cloud and the roadside point cloud in the laser point cloud based on the roadside model and the road surface model, and performing segmentation on the remaining laser point cloud using a point cloud segmentation algorithm, and responding to the segmentation result. And recognizing the object to be. By estimating the height of the mobile carrier based on the laser point cloud and constructing a road surface model corresponding to the laser point cloud by using the height, the construction efficiency and accuracy of the road surface model can be improved, and the recognition efficiency and Improve accuracy.