New website getting online, testing
    • 摘要: 激光雷达在无人驾驶领域占据了重要地位,地面滤波是从激光雷达获取的点云数据中分离和提取地面信息的关键技术。文章首先简述了车载激光雷达(VLS)的发展及分类,并讨论了各类车载激光雷达的优缺点;然后研究了VLS地面滤波算法的发展并进行梳理分类,阐述了地面滤波精度的评估方法和评估标准,并以三种典型的算法为例进行比较分析;最后总结了当前VLS硬件和地面滤波算法的不足,并展望未来发展趋势。

       

      Abstract: LiDAR plays an important role in the field of unmanned driving. Ground filtering is the key technology to separate and extract the ground information from the point cloud data acquired by LiDAR. Firstly, the development and classification of vehicle LiDAR scans (VLS) are introduced, and the advantages and disadvantages of all kinds of VLS are discussed. Then, the development of VLS ground filtering algorithm is studied and classified. The evaluation methods and standards of ground filtering accuracy are described, and three typical algorithms are compared and analyzed. Finally, the shortcomings of current VLS and its ground filtering algorithms are summarized, and the future development trend is prospected.