The invention relates to a ship over-limit early warning method and system based on point cloud data. The method comprises the following steps: acquiring environmental point cloud data acquired by a laser radar; preprocessing the environmental point cloud data through a statistical filtering algorithm and a bilateral filtering algorithm; performing two-dimensional gridding on the preprocessed environment point cloud data, and performing segmentation according to a K-means clustering algorithm to obtain target ship point cloud data; obtaining a height value corresponding to the highest point of the point cloud data of the target ship; and comparing the height value with a preset height limit value, and when the height value is larger than or equal to the height limit value, sending out an over-limit early warning signal of the corresponding ship. According to the technical scheme of the invention, the early-warning monitoring precision is ensured by the early-stage multi-dimensional preprocessing algorithm, and the processing efficiency of the early-warning monitoring process is ensured by the later-stage two-dimensional gridding processing, so that efficient and accurate early warning of the passing ships is realized.
本发明涉及一种基于点云数据的船舶超限预警方法及系统,所述方法步骤包括:获取激光雷达采集的环境点云数据;通过统计滤波算法和双边滤波算法对所述环境点云数据进行预处理;对经过预处理后的环境点云数据二维网格化后按照K‑means聚类算法进行分割获得目标船舶点云数据;获取所述目标船舶点云数据的最高点对应的高度值;将所述高度值与预设的高度设限值进行比较,当所述高度值大于或等于所述高度设限值时发出对应船舶的超限预警信号。本发明技术方案由于前期的多维预处理算法保证了预警监测的精度,后期的二维网格化处理保证了预警监测过程的处理效率,进而实现了对通行船舶的高效和准确预警。
Ship over-limit early warning method and system based on point cloud data
一种基于点云数据的船舶超限预警方法及系统
2021-06-25
Patent
Electronic Resource
Chinese
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