Point cloud data preprocessing method and device and water surface target laser radar

• Main Authors: ZHANG RENRAN, ZHU WEI, ZHANG LEI, DU XIANG, JIANG KUNYI, QI BOHAN, BAI GAOYI, WANG BO
• Format: Patent
• Language: Chinese; English
• Published: 31.03.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a point cloud data preprocessing method and device and a water surface target laser radar, and relates to the field of intelligent unmanned smart ships. In order to solve the problems that the existing simple European clustering method is insufficient in ship tail wave processing, misjudgment of the position and the size of a target ship can be caused, and judgment of an unmanned ship on target real attributes is affected, the technical scheme provided by the invention is that the point cloud data preprocessing method is used for removing noisy points of water surface point cloud data; the method comprises the steps of 1, selecting a point in a target water surface space, and obtaining a point cloud according to the point; 2, obtaining a laser point set of which the distance meets a preset threshold value according to the point cloud; 3, judging whether the number of laser points in the laser point set meets a preset requirement or not, if yes, reserving the set as a target point cloud