Patent ID: 11875513
Assignee: PEKING UNIVERSITY SHENZHEN GRADUATE SCHOOL
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 4:
5. The point cloud stripe division method according to claim 1, characterized in that a method for re-segmenting the local point clouds in step 3) is implemented by traversing all local point clouds in an order of Morton code, wherein the local point cloud bi whose number of points exceeds maxSize need to be re-segmented with technical details of the re-segmentation including:
(1) firstly, distribution variances of the local point cloud bi along a three-dimensional coordinate axis being calculated as var_X(i), var_Y(i) and var_Z(i), respectively, wherein taking var_X(i) as an example, calculation formula is as follows:

var_X(i)=1/NΣn=1N(Xi(n)−Xi)2,, wherein i is an index of the current local point cloud in the order of the Morton code, N is the number of points numSize(i) in the current local point cloud bi, Xi(n) is X coordinate value of the nth point in the local point cloud bi, and Xi is X coordinate mean value of all points in the local point cloud bi;
(2) in the local point cloud, a coordinate axis with the maximum variance max (var_X(i), var_Y(i), var_Z(i)) being selected as a redivision direction, and calculation formula of redivided number num being as follows:

num=ceil(N/maxSize).

through the above steps, one frame of complete point cloud being re-segmented to obtain one group of new local point clouds, and the total number thereof being Num.