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综述

车载激光雷达点云数据地面滤波算法综述

Review of ground filtering algorithms for vehicle LiDAR scans point cloud data

DOI: 10.12086/oee.2020.190688
2020-12
2020 Vol. 47, No. 12
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    摘要

  • 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。

    关键词

    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.

    Keywords

    • HTML全文

  • Opto-Electronic Science, 2022, 1(4): 210005. https://www.oejournal.org/article/doi/10.29026/oes.2022.210005.

    基于上述问题，希腊研究与技术基金会电子结构与激光研究所(IESL) Emmanuel Stratakis教授团队对有机-无机钙钛矿晶相的电荷载流子动力学变化进行了深入研究。在低于室温的温度下，比较玻璃/钙钛矿结构(参考)和两种不同的玻璃/ITO/HTL/钙钛矿构型的微光致发光(μPL)和超快时间分辨瞬态吸收光谱( TAS )的结果。该工作的目的是探索和揭示不同钙钛矿晶相的电荷载流子动力学，同时也考虑所使用的空穴传输层聚合物的影响。先在玻璃、PEDOT:PSS和PTAA聚合物上分别沉积CH3NH3PbI3 (钙钛矿)薄膜，并在85 K至215 K的温度范围内研究所制备的玻璃/CH3NH3PbI3和玻璃/ITO/HTL/ CH3NH3PbI3结构，以探索CH3NH3PbI3斜方和四方晶相的电荷提取动力学。研究表明，低温下的载流子动力学不仅受空穴传输层的影响，还与不同钙钛矿的晶相密切相关。

    近年来，尽管有机-无机卤化铅钙钛矿在能量转换应用方面引起了巨大的科学关注，但钙钛矿光伏器件中温度和空穴传输层( HTL )类型对电荷载流子动力学和复合过程的影响仍在很大程度上未被探究。

    The Ultrafast Laser Micro- and Nano- processing group (ULMNP) of IESL described micro photoluminescence (μPL) and ultrafast time resolved transient absorption spectroscopy (TAS) results in a reference Glass/Perovskite architecture and two different Glass/ITO/HTL/Perovskite configurations at temperatures below room temperature. The objective of this work is to probe and shed light on the charge carrier dynamics of different perovskite crystalline phases, while considering also the effect of the employed hole transport layer (HTL) polymer. Namely, CH3NH3PbI3 films were deposited on Glass, PEDOT:PSS and PTAA polymers, and the developed Glass/CH3NH3PbI3 and Glass/ITO/HTL/CH3NH3PbI3 architectures were studied from 85 up to 215 K in order to explore the charge extraction dynamics of the CH3NH3PbI3 orthorhombic and tetragonal crystalline phases. Interestingly enough, the article reports evidence that the charge carrier dynamics at low temperatures, are not only affected by the employed hole transport layer, but in addition are strongly correlated to the different perovskite crystal phases.

    Despite that organic-inorganic lead halide perovskites have attracted enormous scientific attention for energy conversion applications over the recent years, the influence of temperature and the type of the employed hole transport layer (HTL) on the charge carrier dynamics and recombination processes in perovskite photovoltaic devices is still largely unexplored. In particular, significant knowledge is missing on how these crucial parameters for radiative and non-radiative recombinations, as well as for efficient charge extraction vary among different perovskite crystalline phases that are induced by temperature variation.

    Opto-Electronic Science, 2022, 1(4): 210005. https://www.oejournal.org/article/doi/10.29026/oes.2022.210005.

    • 基金

    基金项目: 

    装备发展部十三五预研基金 41415010503

    Funds: 

    The 13th Five Year Plan Pre-Research Fund of Equipment Development Department 41415010503

    参考文献(56)

  • 参考文献

    刘博, 于洋, 姜朔.激光雷达探测及三维成像研究进展[J].光电工程, 2019, 46(7): 190167.

    DOI: 10.12086/oee.2019.190167

    Liu B, Yu Y, Jiang S. Review of advances in LiDAR detection and 3D imaging[J]. Opto-Electronic Engineering, 2019, 46(7): 190167.

    DOI: 10.12086/oee.2019.190167

    Habermann D, Hata A, Wolf D, et al. 3D point clouds segmentation for autonomous ground vehicle[C]//2013 Ⅲ Brazilian Symposium on Computing Systems Engineering, Niteroi, Brazil, 2013: 143-148.

    刘志青, 黄沈华, 马琪, 等.基于混合最小二乘与总体最小二乘的激光雷达滤波算法[J].测绘与空间地理信息, 2019, 42(2): 30-33.

    https://www.cnki.com.cn/Article/CJFDTOTAL-DBCH201902009.htm

    Liu Z Q, Huang S H, Ma Q, et al. LiDAR filtering algorithm based on mixed least squares and total least squares[J]. Geomatics & Spatial Information Technology, 2019, 42(2): 30-33.

    https://www.cnki.com.cn/Article/CJFDTOTAL-DBCH201902009.htm

    邱纯鑫.激光雷达与自动驾驶的产业化之路[J].人工智能, 2018(6): 37-47.

    https://www.cnki.com.cn/Article/CJFDTOTAL-DKJS201806006.htm

    Qiu C X. Lidar and the industrialization of automatic driving[J]. Artificial Intelligence, 2018(6): 37-47.

    https://www.cnki.com.cn/Article/CJFDTOTAL-DKJS201806006.htm
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    版权属于中国科学院光电技术研究所，但文章内容可以在本网站免费下载，以及免费用于学习和科研工作
    • 关于本文

  • 关于本文

    DOI: 10.12086/oee.2020.190688
    引用本文
    Citation:
    黄思源, 刘利民, 董健, 傅雄军. 车载激光雷达点云数据地面滤波算法综述[J]. 光电工程, 2020, 47(12): 190688. DOI: 10.12086/oee.2020.190688
    Citation:
    Huang Siyuan, Liu Limin, Dong Jian, Fu Xiongjun. Review of ground filtering algorithms for vehicle LiDAR scans point cloud data. Opto-Electronic Engineering 47, 190688 (2020). DOI: 10.12086/oee.2020.190688
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    出版历程
    • 收稿日期 2019-11-12
    • 修回日期 2020-01-13
    • 刊出日期 2020-12-14
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  • 车载激光雷达类型 工作原理 优点 缺点 厂商/研究机构代表
    机械式旋转
    激光雷达    		 通过部件的机械旋转完成激光扫描 大扫描视场和高扫描效率，可承受的激光功率高 机械结构复杂，设备难以小型化，行车环境下磨损严重，使用寿命短，价格高昂 Velodyne公司(美国)
    Quanergy公司(德国)
    上海禾赛光电
    深圳速腾聚创
    混合固态
    激光雷达    		 通过MEMS振镜旋转完成激光扫描 实现了一定程度的小型化，响应速度较快 接收光路复杂，使用寿命短，扫描受限于振镜的偏转范围 Msotek公司(韩国)
    Innoviz公司(以色列)
    光学相控阵型
    激光雷达    		 通过控制合成光束的指向完成激光扫描 无惯性器件，精确稳定，方向可任意控制 需要消除旁瓣的影响，难以实现水平360°扫描 Quanergy公司(美国)
    Blackmore公司(美国)
    闪光型
    激光雷达    		 采用单脉冲直接向各个方向漫射，利用飞行时间成像 只要一次快闪便能照亮整个场景，避免运动畸变 探测精度随距离增加明显降低，视场角受限 亚德诺半导体公司
    (美国)
    文章中查看 下载
  • 滤波结果
    地面点 非地面点 总和
    标定数据 地面点 a b e=a+b
    非地面点 c d f=c+d
    总和 g=a+c h=b+d n=e+f
    文章中查看 下载
  • 算法名称 算法类型 算法时间复杂度T(n) 算法空间复杂度S(n) 参数/单位 参数取值范围/步进值 最优结果
    最优结果对应参数 Ⅰ类误差 Ⅱ类误差 总误差 Kappa系数
    向上生长滤波算法 基于空间划分 O(n/m) O(9(m-1)) 网格长度/m 0.1~0.5/0.1 0.2 0.0153 0.3854 0.1420 0.6553
    网格高度/m 0.1~0.5/0.1 0.2
    高度阈值/m -1.4~-0.4/0.1 -0.9
    相邻点连线滤波算法 基于扫描线 O(n) O(n) 坡度系数 0.003~0.0074 /0.0002 0.0032 0.0900 0.2113 0.1297 0.7035
    高度阈值/m -1.4~-0.4/0.1 -1.1
    坡度值区域增长滤波算法 基于局部特征 O(n) O(n) 坡度阈值/(°) 5~45/1.0 41 0.0675 0.1107 0.0824 0.7821
    高度阈值/m -1.4~-0.4/0.1 -1.1
    文章中查看 下载

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DOI: 10.12086/oee.2019.190167

Liu B, Yu Y, Jiang S. Review of advances in LiDAR detection and 3D imaging[J]. Opto-Electronic Engineering, 2019, 46(7): 190167.

DOI: 10.12086/oee.2019.190167

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https://www.cnki.com.cn/Article/CJFDTOTAL-DBCH201902009.htm

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https://www.cnki.com.cn/Article/CJFDTOTAL-DBCH201902009.htm

邱纯鑫.激光雷达与自动驾驶的产业化之路[J].人工智能, 2018(6): 37-47.

https://www.cnki.com.cn/Article/CJFDTOTAL-DKJS201806006.htm

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车载激光雷达点云数据地面滤波算法综述
  • 图  1
  • 图  2
  • 图  3
  • 图  4
  • 图  5
车载激光雷达点云数据地面滤波算法综述
  • 车载激光雷达类型 工作原理 优点 缺点 厂商/研究机构代表
    机械式旋转
    激光雷达    		 通过部件的机械旋转完成激光扫描 大扫描视场和高扫描效率，可承受的激光功率高 机械结构复杂，设备难以小型化，行车环境下磨损严重，使用寿命短，价格高昂 Velodyne公司(美国)
    Quanergy公司(德国)
    上海禾赛光电
    深圳速腾聚创
    混合固态
    激光雷达    		 通过MEMS振镜旋转完成激光扫描 实现了一定程度的小型化，响应速度较快 接收光路复杂，使用寿命短，扫描受限于振镜的偏转范围 Msotek公司(韩国)
    Innoviz公司(以色列)
    光学相控阵型
    激光雷达    		 通过控制合成光束的指向完成激光扫描 无惯性器件，精确稳定，方向可任意控制 需要消除旁瓣的影响，难以实现水平360°扫描 Quanergy公司(美国)
    Blackmore公司(美国)
    闪光型
    激光雷达    		 采用单脉冲直接向各个方向漫射，利用飞行时间成像 只要一次快闪便能照亮整个场景，避免运动畸变 探测精度随距离增加明显降低，视场角受限 亚德诺半导体公司
    (美国)
  • 滤波结果
    地面点 非地面点 总和
    标定数据 地面点 a b e=a+b
    非地面点 c d f=c+d
    总和 g=a+c h=b+d n=e+f
  • 算法名称 算法类型 算法时间复杂度T(n) 算法空间复杂度S(n) 参数/单位 参数取值范围/步进值 最优结果
    最优结果对应参数 Ⅰ类误差 Ⅱ类误差 总误差 Kappa系数
    向上生长滤波算法 基于空间划分 O(n/m) O(9(m-1)) 网格长度/m 0.1~0.5/0.1 0.2 0.0153 0.3854 0.1420 0.6553
    网格高度/m 0.1~0.5/0.1 0.2
    高度阈值/m -1.4~-0.4/0.1 -0.9
    相邻点连线滤波算法 基于扫描线 O(n) O(n) 坡度系数 0.003~0.0074 /0.0002 0.0032 0.0900 0.2113 0.1297 0.7035
    高度阈值/m -1.4~-0.4/0.1 -1.1
    坡度值区域增长滤波算法 基于局部特征 O(n) O(n) 坡度阈值/(°) 5~45/1.0 41 0.0675 0.1107 0.0824 0.7821
    高度阈值/m -1.4~-0.4/0.1 -1.1
  • 表  1

    车载激光雷达对比表

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  • 表  2

    交叉表

      2/3
  • 表  3

    滤波算法对比

      3/3
  • 期刊
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    2. 光电科学
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    4. 光电工程
    5. 光电研究评论
    6. 智能光电
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