Patent Document ID: 9076219
Application ID: 13601851
Patent Status: 1

Claim One:
1. A space segmentation method for 3D point clouds, the method comprising: equally segmenting a space of the 3D point clouds into a plurality of grid cells; establishing a base plane corresponding to a bottom part of the space of the 3D point clouds; accumulating points of all grid cells of each column into a grid cell located on the base plane of each column, the column being extended perpendicularly from the grid cell located on the base plane filtering a total number of the accumulated points; determining a corresponding grid cell located on the base plane to be an object-estimation grid cell used for object estimation when a value of definition of each grid cell of the base plane is equal to or higher than a threshold value; and determining the grid cell located on the base plane of each column as an object part or a ground part based on the filtered total number of accumulated points.