Method of Processing 3D Sensor Data to Provide Terrain Segmentation

摘要

A method of processing 3D sensor data to provide terrain segmentation involves processing the 3D data so as to analyse the positions of sets returns from the terrain in the horizontal plane. Returns from an idealised flat terrain form a series of scanlines in the horizontal plane. A return having a significant displacement in the horizontal plane in comparison to other returns in the same scan line is classified as a non-ground return corresponding to an elevated object.

主权项

1. A method of processing 3D sensor data to provide terrain segmentation, the method comprising:
generating, by a 3D sensor, the 3D sensor data, wherein the 3D sensor data comprises a respective coordinate set for each of a series of returns detected by a 3D sensor positioned above the terrain by scanning the 3D sensor over the terrain in a known smooth, analytical scan pattern, each coordinate set corresponding to a position vector with respect to the 3D sensor of a point in the terrain giving rise to a respective return and the coordinates defining a horizontal plane; identifying a series of returns having positions in the horizontal plane that would lie on a substantially smooth path or scan line in the horizontal plane for returns from an idealised flat terrain and the known analytical scan pattern; and processing the horizontal coordinates of the returns in order to identify returns having positions in the horizontal plane deviating by more than a pre-determined extent from positions of returns from a hypothetical perfect plane; classifying the deviating returns as non-ground returns corresponding to elevated objects in the terrain; and differentiating non-ground returns from ground returns using the classification of deviating returns.