METHOD FOR SEGMENTING THE DATA OF A 3D SENSOR PRODUCED IN THE PRESENCE OF AEROSOL CLOUDS FOR INCREASING THE SITUATIONAL AWARENESS AND THE LOCATION DETECTION OF OBSTACLES

摘要

A method for segmenting the data of a 3D sensor produced in the presence of aerosol clouds and for increasing the situation awareness and the location detection of obstacles involves transforming the sensor data are transformed into a 3D measurement point cloud, determining related subsets as measurement point clusters from the 3D measurement point cloud of an single measurement cycle of the 3D sensor based on the local measurement point density, determining at least one of the characteristic parameters of the individual measurement point clusters, the characteristic parameters including position, orientation in space, and shape, and determining a time variation of the characteristic parameters using the recorded parameters calculated from subsequent measurement cycles, from which the association of a measurement point cluster with a real obstacle or with the aerosol cloud results.

主权项

1. A method for segmenting 3D sensor data generated in presence of aerosol clouds to increase situation awareness and location detection of obstacles, the method comprising:
receiving the 3D sensor data; transforming the 3D sensor data into a 3D measurement point cloud; determining measurement point clusters from the 3D measurement point cloud of a single measurement cycle of 3D sensor related subsets based on local measurement point density; determining at least one of the following characteristic parameters of individual measurement point clusters
position,orientation in space,shape, producing an association of a measurement point cluster to a real obstacle or an association of a measurement point cluster to the aerosol cloud by determining time variation of the characteristic parameters using 3D sensor data recorded in subsequent measurement cycles.