The invention relates to the technical field of vehicle control, and provides a stair slope angle determination method and device, electronic equipment and a storage medium. According to the method, multiple pieces of point cloud data corresponding to a stair are obtained, and a projection plane is established according to the plane where the stair is located; mapping the plurality of point cloud data to a projection plane, and obtaining a two-dimensional point cloud coordinate after each point cloud data is mapped to the projection plane; and performing slope fitting processing on the plurality of two-dimensional point cloud coordinates to obtain a stair slope corresponding to the stair, determining a slope angle of the stair according to the stair slope, and converting the three-dimensional point cloud data into the two-dimensional point cloud coordinates by mapping the plurality of three-dimensional point cloud data to a projection plane perpendicular to the plane where the stair is located. Since the plurality of two-dimensional point cloud coordinates can express the fitting straight line corresponding to the staircase, the slope fitting processing is performed on the plurality of two-dimensional point cloud coordinates, the slope corresponding to the straight line formed by fitting can be obtained, and the slope angle of the staircase is accurately determined subsequently according to the slope of the staircase.
本申请涉及车辆控制技术领域,提供了一种楼梯的坡度角度确定方法、装置、电子设备及存储介质。该方法通过获取楼梯对应的多个点云数据,并根据楼梯所在平面建立投影平面;将多个点云数据映射到投影平面,并获取每一点云数据映射到投影平面后的二维点云坐标;对多个二维点云坐标进行斜率拟合处理,得到楼梯对应的楼梯斜率,根据楼梯斜率确定楼梯的坡度角度,通过将多个三维的点云数据映射到与楼梯所在平面垂直的投影平面上,实现将三维的点云数据转换为二维点云坐标,由于多个二维点云坐标能够表达出楼梯对应的拟合直线,通过对多个二维点云坐标进行斜率拟合处理,能够得到拟合而成的直线对应的斜率,后续根据该楼梯斜率准确确定楼梯的坡度角度。
Stair gradient angle determination method and device, electronic equipment and storage medium
楼梯的坡度角度确定方法、装置、电子设备及存储介质
2024-12-06
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
Gradient determination method and device, electronic equipment and storage medium
European Patent Office | 2023
|Gradient determination method and device, electronic equipment, driving equipment and storage medium
European Patent Office | 2024
|European Patent Office | 2020
|European Patent Office | 2025
|