The invention provides an urban rail transit scene dense point cloud 3D rail line detection method. The method comprises the steps of obtaining original dense point cloud data collected by a laser radar, performing coordinate system adjustment and point cloud rotation on the dense point cloud data to enable a train running direction to be aligned with an x axis, analyzing the dense point cloud data after coordinate system transformation, identifying track area point cloud data of which the density is greater than a set threshold value, and outputting track area point cloud data of which the density is greater than the set threshold value. And screening the point cloud data of the track area by using reflectivity information, filtering the point cloud data of the track area after reflectivity screening, and fitting geometrical characteristics and direction information of the track according to the point cloud data of the track area after denoising and smoothing through a PCA (Principal Component Analysis) method. According to the method, 3D rail line detection is carried out from dense point cloud data of urban rail transit, geometric features and direction information of the urban rail line can be effectively identified, and accurate and safe data support is provided for the fields of subsequent mapping, positioning, automatic driving and the like.

    本发明提供了一种城市轨道交通场景稠密点云3D轨道线检测方法。该方法包括:获取激光雷达采集的原始的稠密点云数据,对稠密点云数据进行坐标系的调整和点云的旋转,使得列车运行方向与x轴对齐,对坐标系变换后的稠密点云数据进行分析,识别出稠密度大于设定阈值的轨道区域点云数据,使用反射率信息对轨道区域点云数据进行筛选,对反射率筛选后的轨道区域点云数据进行滤波处理,通过PCA方法根据去噪和平滑后的轨道区域点云数据拟合出轨道的几何特征和方向信息。本发明从城市轨道交通的稠密点云数据中进行3D轨道线检测,可以有效地识别出城市轨道线的几何特征和方向信息,为后续建图、定位、自动驾驶等领域提供准确、安全的数据支持。


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    Title :

    Urban rail transit scene dense point cloud 3D rail line detection method


    Additional title:

    一种城市轨道交通场景稠密点云3D轨道线检测方法


    Contributors:
    TAO DAN (author) / XU ZEJING (author) / GAO RUIPENG (author) / LIU YIQING (author) / FU ZHE (author)

    Publication date :

    2025-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B61K Andere Hilfseinrichtungen für Eisenbahnen , OTHER AUXILIARY EQUIPMENT FOR RAILWAYS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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