The invention relates to a cliff detection method and device, electronic equipment, a mobile tool and a readable medium, and the method comprises the steps: obtaining point cloud data, carrying out the rasterization of the point cloud data, and obtaining raster data which comprises a plurality of grids; traversing the grids in each direction in sequence, and selecting cliff feature points in each direction; grouping each cliff feature point to obtain a feature point group; performing multiple verification on each feature point group, and determining the feature point group passing the verification as a target feature point group; and determining a position parameter of the cliff according to each cliff feature point in the target feature point group. According to the method, the cliff feature points are selected in all directions, then the cliff feature points are grouped and verified, and finally the accurate position of the cliff is determined according to the verified feature point groups, so that the problem that the cliff cannot be accurately detected is solved.
本申请涉及一种断崖检测方法、装置、电子设备、移动工具及可读介质,其中,方法包括:获取点云数据,并对点云数据进行栅格化处理,得到栅格数据,其中,栅格数据中包括多个栅格;依次遍历各个方向上的栅格,选出各个方向上的断崖特征点;对各个断崖特征点进行分组,得到特征点组;对各个特征点组进行多重校验,并将通过校验的特征点组确定为目标特征点组;根据目标特征点组中的各个断崖特征点确定断崖的位置参数。通过在各个方向上选出断崖特征点,然后对断崖特征点进行分组及校验,最后根据通过校验的特征点组确定断崖的准确位置,解决了无法准确检出断崖的问题。
Cliff detection method and device, electronic equipment, moving tool and readable medium
断崖检测方法、装置、电子设备、移动工具及可读介质
2024-10-18
Patent
Electronic Resource
Chinese
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