Disclosed are a perceiving method for roadside equipment, a perceiving system therefor, a device, and a storage medium. The method includes: creating topographical basemap data of an area where the roadside equipment is disposed; receiving point cloud data acquired by at least one LiDAR sensor mounted on the roadside equipment; registering the point cloud data acquired by the at least one LiDAR sensor with the basemap data, thereby obtaining fused point cloud data; filtering ground point cloud from the fused point cloud data based on the basemap data to obtain at least one subset including a single object; and extracting a minimum bounding box from the at least one subset including a single object to obtain a perception result within the area. The perceiving method for multi-sensor roadside equipment as disclosed enables real-time acquisition of high-precision, high-frequency point cloud data, satisfies perception requirements of a surface mine autonomous driving system with respect to roads and target objects not covered by the system, and ensures safety, stability, and operating efficiency of the autonomous driving system.
Perceiving Method for roadside equipment, Perceiving System Therefor, Device, And Storage Medium
2025-02-13
Patent
Electronic Resource
English
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