| CPC G06V 20/56 (2022.01) [G01C 7/02 (2013.01); G01C 21/3819 (2020.08); G01C 21/3822 (2020.08); G01S 17/89 (2013.01); G06T 7/11 (2017.01); G06T 7/50 (2017.01); G06T 17/00 (2013.01); G06T 17/30 (2013.01); G06V 20/588 (2022.01); G06T 2200/04 (2013.01); G06T 2200/08 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/30252 (2013.01)] | 12 Claims |
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1. A method for processing a 3D point cloud representing surroundings, comprising the following steps:
receiving the 3D point cloud based on a sensor;
ascertaining starting ground points within the 3D point cloud, points of the 3D point cloud which are situated within a first predefined distance from the sensor and meet at least one predefined ground point criterion with respect to a reference plane being classified as the starting ground points, the reference plane being a plane which is predefined with respect to the sensor and being a plane which represents a ground surface;
dividing at least one sub-area of the reference plane into a plurality of cells, and ascertaining points of the 3D point cloud which correspond to each cell of the plurality of cells, points of the 3D point cloud corresponding to a respective cell of the plurality of cells being those points which are enclosed by the respective cell in a perpendicular projection onto the reference plane;
establishing cells of the plurality of cells which have a first predefined minimum number of the starting ground points as starting cells, the first predefined minimum number of the starting ground points including at least three of the starting ground points;
for each respective starting cell of the starting cells, ascertaining a cell plane, the cell plane being ascertained in such a way that it approximates a position of the starting ground points of the respective starting cell according to a predefined calculation rule;
ascertaining candidate cells within the reference plane, each candidate cell of the candidate cells:
being a cell for which no cell plane has been ascertained yet,
abutting at least one further cell for which a cell plane has already been ascertained, and
including a second predefined minimum number of corresponding points of the 3D point cloud;
calculating an estimated cell plane for each respective candidate cell of the candidate cells from all cell planes which are present in cells which directly abut the respective candidate cell;
ascertaining cell plane candidate points for each respective candidate cell of the candidate cells, each point of the 3D point cloud being ascertained as a cell plane candidate point for the respective candidate cell when:
the point corresponds to the respective candidate cell, and
a smallest distance from the point to the estimated cell plane of the respective candidate cell and/or from the point to the reference plane does not exceed a second predefined distance; and
for each respective candidate cell of the candidate cells, ascertaining a cell plane, the cell plane being ascertained in such a way that it approximates a position of the cell plane candidate points of the respective candidate cell according to the predefined calculation rule.
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