Point cloud filtering method and device

Abstract

The invention is suitable for the technical field of data analysis, and provides a point cloud filtering method and device, and the method comprises the steps: employing a preset cloth simulation algorithm to process point cloud data, and determining first ground point information in the point cloud data; adopting a preset irregular triangulation network asymptotic filtering algorithm to process the point cloud data, and determining second ground point information in the point cloud data; generating a height difference value corresponding to the target area based on the point cloud data and the second ground point information; determining a first area corresponding to the height difference value meeting a first preset condition, and marking a ground point, located outside the first area, in the first ground points as a third ground point; and determining ground point information and non-ground point information of the target area based on the point cloud data, the second ground point and the third ground point. According to the method, specific parameters do not need to be set, terrain scenes do not need to be limited, and ground points and non-ground points of various terrains canbe distinguished. 本发明适用于数据分析技术领域，提供了一种点云滤波方法及设备，包括：采用预设的布料模拟算法对所述点云数据进行处理，确定所述点云数据中的第一地面点信息；采用预设的不规则三角网渐近滤波算法对所述点云数据进行处理，确定所述点云数据中的第二地面点信息；基于所述点云数据和所述第二地面点信息生成所述目标区域对应的高度差值；确定满足第一预设条件的高度差值对应的第一区域，并将所述第一地面点中处于所述第一区域之外的地面点标记为第三地面点；基于所述点云数据、所述第二地面点和所述第三地面点，确定所述目标区域的地面点信息和非地面点信息。上述方法，无需设置特定参数，无需限定地形场景，可以区分多种地形的地面点和非地面点。