METHOD FOR INCREASING THE SITUATIONAL AWARENESS AND THE LOCATION DETECTION OF OBSTACLES IN THE PRESENCE OF AEROSOL CLOUDS

摘要

The invention concerns a method for segmenting the data of a 3Dsensor produced in the presence of aerosol clouds for increasingthe situation awareness and the location detection of obstacles,wherein- in a first step the sensor data are transformed into a 3Dmeasurement point cloud,- in a second step related subsets, so-called measurementpoint clusters, are determined from the 3D measurement pointcloud of an single measurement cycle of the 3D sensor based onthe local measurement point density,- in a third step at least one of the followingcharacteristic parameters of the individual measurement pointclusters are determined:- position,- orientation in space,- shape,- in a fourth step the variation with time of saidcharacteristic parameters is determined using the recordedparameters calculated from subsequent measurement cycles, fromwhich the association of a measurement point cluster with a realobstacle or with the aerosol cloud results.