Patent ID: 11960034
Assignee: NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. The method according to claim 1, wherein the denoising the three-dimensional point cloud obtained by the LiDAR, and obtaining the actual point cloud of the three-dimensional towered checkerboard under the LiDAR coordinate system comprises:
removing points of the three-dimensional towered checkerboard on a ground and in an uncorrelated interval according to an interval where the three-dimensional towered checkerboard is located;
fitting a ground plane where the three-dimensional towered checkerboard is located, and removing all the points on the ground plane; the ground plane is a plane having the largest number of points in a space of the three-dimensional towered checkerboard and having a normal vector which goes approximately vertically upward; and
taking the three-dimensional point cloud after all the points on the ground plane and in the uncorrelated interval are removed as the actual point cloud of the three-dimensional towered checkerboard under the LiDAR coordinate system.