A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Pavement detection method based on laser radar
The invention provides a road surface detection method based on a laser radar. The method comprises the following steps: S1, establishing a right-hand space three-dimensional coordinate system XYZ for the laser radar; a set M of original point cloud data of a road surface is obtained through laser radar scanning, and the set M is divided into k segmented sets Mi parallel to a YOZ plane in the forward direction of an X axis by taking a coordinate origin as a starting point; s2, obtaining a segment set M'i after preliminary denoising; s3, obtaining a segment set M ''i after continuous denoising; s4, feature points used for calculating the slope of the road surface, re-checking the line type of the road and calculating the flatness of the road surface are extracted for each segment set M ''i. The method can be suitable for detection of pavement flatness, gradient and line shape, and the data measurement precision is high.
本发明提供了一种基于激光雷达的路面检测方法，包括步骤S1、对激光雷达建立右手空间三维坐标系XYZ；采用激光雷达扫描获取路面原始点云数据的集合M，以坐标原点为起始点，平行于YOZ平面且沿X轴正向将集合M分为k个分段集合Mi；步骤S2、得到初步去噪后的分段集合M′i；步骤S3、得到连续去噪后的分段集合M″i；步骤S4、对于每一个分段集合M″i分别提取用于计算路面坡度、用于复核公路线型以及用于计算路面平整度的特征点。本发明能够适用于路面平整度、坡度和线形方面的检测，且数据测量精度高。
Pavement detection method based on laser radar
The invention provides a road surface detection method based on a laser radar. The method comprises the following steps: S1, establishing a right-hand space three-dimensional coordinate system XYZ for the laser radar; a set M of original point cloud data of a road surface is obtained through laser radar scanning, and the set M is divided into k segmented sets Mi parallel to a YOZ plane in the forward direction of an X axis by taking a coordinate origin as a starting point; s2, obtaining a segment set M'i after preliminary denoising; s3, obtaining a segment set M ''i after continuous denoising; s4, feature points used for calculating the slope of the road surface, re-checking the line type of the road and calculating the flatness of the road surface are extracted for each segment set M ''i. The method can be suitable for detection of pavement flatness, gradient and line shape, and the data measurement precision is high.
本发明提供了一种基于激光雷达的路面检测方法，包括步骤S1、对激光雷达建立右手空间三维坐标系XYZ；采用激光雷达扫描获取路面原始点云数据的集合M，以坐标原点为起始点，平行于YOZ平面且沿X轴正向将集合M分为k个分段集合Mi；步骤S2、得到初步去噪后的分段集合M′i；步骤S3、得到连续去噪后的分段集合M″i；步骤S4、对于每一个分段集合M″i分别提取用于计算路面坡度、用于复核公路线型以及用于计算路面平整度的特征点。本发明能够适用于路面平整度、坡度和线形方面的检测，且数据测量精度高。
Pavement detection method based on laser radar
一种基于激光雷达的路面检测方法
DENG XIANG (author) / LIANG XIAODONG (author) / ZHOU JUNHUA (author) / GAO SAI (author) / SHI HUI (author) / LI YUE (author)
2024-01-05
Patent
Electronic Resource
Chinese
IPC:
G01S
RADIO DIRECTION-FINDING
,
Funkpeilung
/
E01C
Bau von Straßen, Sportplätzen oder dgl., Decken dafür
,
CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE
/
G01B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS
,
Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen
/
G01C
Messen von Entfernungen, Höhen, Neigungen oder Richtungen
,
MEASURING DISTANCES, LEVELS OR BEARINGS
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