The present disclosure provides an obstacle detecting method and apparatus, a device and a storage medium, wherein the method comprises: obtaining a 3D point cloud collected by a driverless vehicle during travel; determining a set of vertexes and a set of edges respectively according to the obtained 3D point cloud; clustering vertexes in the set of vertexes according to the set of edges to obtain a smallest generated tree as an obstacle detection result. The solutions of the present disclosure can be applied to reduce workload and improve the accuracy of detection results.


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    Title :

    Obstacle detecting method and apparatus, device and storage medium


    Contributors:
    CHEN DONGMING (author) / YAN HE (author) / WANG HAO (author) / WANG LIANG (author)

    Publication date :

    2020-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS





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