Tsinghua University

Yiqian Lu

Zhiwei Li

Xinyu Zhang

Huaping Liu

Yuchao Liu

A LiDAR point cloud reflection intensity complementation method includes: acquiring a grayscale image and an original point cloud of a same road surface using a calibrated vehicle-mounted webcam and LiDAR; extracting edge information of the grayscale image using a preset edge extraction strategy, to obtain an edge image of the grayscale image; preprocessing the original point cloud to obtain an original point cloud reflection intensity projection image and an interpolated complementary point cloud reflection intensity projection image; and inputting the grayscale image, the edge image of the grayscale image, the original point cloud reflection intensity projection image and the interpolated complementary point cloud reflection intensity projection image into a pre-trained point cloud reflection intensity complementation model, and outputting a complementary point cloud reflection intensity projection image. A LiDAR point cloud reflection intensity complementation system is further provided.

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Beijing, China

Yiqian Lu