The invention discloses a sidewalk pedestrian detection method based on a laser radar. The method employs a pedestrian indication lamp disposed on the ground of a sidewalk, and a two-dimensional linear laser radar disposed at the center of one side of the sidewalk, and the two-dimensional linear laser radar is connected with the pedestrian indication lamp through a wireless signal. The two-dimensional linear laser radar performs distance detection at an interval of a fixed period T and outputs acquired data fk = {(dki, i * delta theta)}, a processor is arranged in the two-dimensional linear laser radar, and a pedestrian detection algorithm is set in the processor. The detection algorithm comprises the following steps: converting data into coordinates of which the origin of coordinates is located in a world coordinate system of the center of the two-dimensional linear laser radar; (2) data cutting: removing data beyond the sidewalk range; (3) data filtering: removing isolated discrete data; and (4) data judgment: judging whether pedestrians exist on the sidewalk or not according to whether fk has data or not.
本发明公开一种基于激光雷达的人行道行人检测方法,包括设置在所述的人行道地面上的行人指示灯,以及安装在所述的人行道一侧正中的二维线性激光雷达,所述的二维线性激光雷达与所述的行人指示灯通过无线信号联系,所述的二维线性激光雷达间隔固定周期T进行距离检测并输出采集的数据fk={(dki,i·Δθ)},所述的二维线性激光雷达内部设置处理器,所述的处理器设置行人检测算法,所述的检测算法包括以下步骤:将数据转换为坐标原点位于所述的二维线性激光雷达中心的世界坐标系中的坐标;(2)数据裁剪:去除超出所述的人行道范围的数据;(3)数据滤波:去除孤立的离散数据;(4)数据判断:根据fk是否有数据,判断所述的人行道上是否有行人。
Sidewalk pedestrian detection method based on laser radar
基于激光雷达的人行道行人检测方法
2021-01-29
Patent
Electronic Resource
Chinese
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