The invention provides an obstacle boundary contour processing method and device, electronic equipment and a storage medium, and belongs to the technical field of obstacle processing, and the method comprises the steps: obtaining original discrete points of an obstacle, the original discrete points including a position index of each discrete point; the original discrete points are fitted through a fitting straight line, the direction angle of the fitting straight line is obtained, and the fitting straight line is expressed in a point and direction mode; fitting deviation is obtained based on the direction angle of the fitting straight line; whether fitting succeeds or not is determined according to the difference value between the fitting deviation and a preset error upper limit value, and when fitting succeeds, points on the fitting straight line serve as target discrete points to be used for describing the boundary contour of the obstacle. The method is simple in expression mode, the discrete points are adopted for expression, expression precision is high, the number of the discrete points can be adjusted according to the actual contour of the obstacle, the requirement for improving the expression precision is met, and complex and special-shaped obstacles can be expressed.

    本公开提供了障碍物边界轮廓处理方法、装置、电子设备及存储介质,属于障碍物处理技术领域,包括:获取障碍物原始离散点,原始离散点中包括每个离散点的位置索引;通过拟合直线对原始离散点进行拟合,得到拟合直线的方向角,其中,拟合直线采用点和方向的方式表示;基于拟合直线的方向角获取拟合偏差;根据拟合偏差与预设误差上限值之间的差值确定拟合是否成功,拟合成功时,将拟合直线上的点作为目标离散点用于描述障碍物边界轮廓。本公开提供的方法表达方式简单,采用离散点进行表达,表达精度高,可以根据障碍物实际轮廓调整离散点数量,以达到提高表达精度的要求且能够表达复杂,异形等障碍物。


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    Title :

    Obstacle boundary contour processing method and device, electronic equipment and storage medium


    Additional title:

    障碍物边界轮廓处理方法、装置、电子设备及存储介质


    Contributors:
    YUE PENGYU (author) / PENG BO (author)

    Publication date :

    2024-02-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL




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