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Method for segmenting the data of a 3D sensor produced in the presence of aerosol clouds for increasing the situational awareness and the location detection of obstacles
Method for segmenting the data of a 3D sensor produced in the presence of aerosol clouds for increasing the situational awareness and the location detection of obstacles
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机译:分割在存在气溶胶云的情况下产生的3D传感器的数据以提高态势感知和障碍物位置检测的方法
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摘要
A method for segmenting the data of a 3D sensor produced in the presence of aerosol clouds and for increasing the situation awareness and the location detection of obstacles involves transforming the sensor data are transformed into a 3D measurement point cloud, determining related subsets as measurement point clusters from the 3D measurement point cloud of an single measurement cycle of the 3D sensor based on the local measurement point density, determining at least one of the characteristic parameters of the individual measurement point clusters, the characteristic parameters including position, orientation in space, and shape, and determining a time variation of the characteristic parameters using the recorded parameters calculated from subsequent measurement cycles, from which the association of a measurement point cluster with a real obstacle or with the aerosol cloud results.
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