【摘要】 由于自主移动机器人微型激光雷达点云数据采集过程存在多种外界因素的干扰，导致采集到的点云数据中含有大量噪声，为此设计提出自主移动机器人微型激光雷达点云数据滤波方法。采集自主移动机器人微型激光雷达采集点云数据，利用噪声分离算法和改进的三维中值修复对点云数据进行优化。根据精简移动最小二乘法构建微型激光雷达点云数据滤波模型，将经过优化的点云数据输入该模型中，实现微型激光雷达点云数据滤波。实验结果表明，所提方法的点云数据滤波误差低，实际应用效果更好。更多还原

【Abstract】 Due to the interference of various external factors in data collection process of the micro lidar point cloud of autonomous mobile robot, the collected point cloud data contains a lot of noise. Therefore, a micro-lidar point cloud data filtering method of autonomous mobile robot is proposed. The point cloud data is collected by the micro-lidar of autonomous mobile robot, and the noise separation algorithm and improved 3D median repair are used to optimize the point cloud data. A micro-lidar point cloud data filtering model was constructed according to the simplified moving least square method, and the optimized point cloud data was input into the model to realize the micro-lidar point cloud data filtering. The experimental results show that the filtering error of point cloud data is low and the practical application effect is better.更多还原