http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-114266801-A
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_9c7a5ccfa2f3ed694d211118ed3e3e5d |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01S17-93 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06T17-20 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06T7-136 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06K9-62 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06V10-762 |
| filingDate | 2021-12-23-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_8ca9d5cf018434bb9033151384c1f059 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_940a29c30611fe1a57d5fbb5ef37a9fa http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_7c408aac0fd85794f55be0b31dff6dc4 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_5a98fa828827946f3198c0c2e2920760 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_4f03bc3bb1a9a67cce83c95a6b2d3275 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_86aa9d168c3246b46d35d62d58128a31 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_5c052ccf92a0a309e9a69aafbdafdbd3 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_a5863a97011a4135a3a2fca89c7b6883 |
| publicationDate | 2022-04-01-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-114266801-A |
| titleOfInvention | Ground segmentation method for mobile robot in cross-country environment based on three-dimensional laser radar |
| abstract | The invention provides a ground segmentation method in a mobile robot cross-country environment based on a three-dimensional laser radar, which comprises the steps of gridding acquired point cloud data to search a maximum density area, determining a maximum density point as a clustering initial point, searching core points in the point cloud according to a density clustering algorithm, starting to search density reachable points around each core point in a clustering semi-radial direction by taking the initial point as a first point of the density clustering, finishing clustering finally, and judging points which cannot be clustered as outlier filtering. And (3) performing downsampling processing on the point cloud by using voxel filtering based on adjacent gravity center points, ordering the disordered point cloud according to the radius and the vertical angle, obtaining an expected distance in the actual road condition through the relation between a slope angle and the vertical angle, obtaining a local threshold height and a global threshold height through the relation between the slope angle and the vertical angle, judging the radius and the actual expected distance of each point and the height of each point, the global threshold and the local threshold to obtain whether the type of the point belongs to the ground or the non-ground. |
| isCitedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-116051657-A |
| priorityDate | 2021-12-23-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID28718 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419513094 |
Total number of triples: 24.