Method and apparatus for processing point cloud data and storage medium

An apparatus for processing point cloud data, comprising circuitry configured to:

• classify a plurality of frames of the point cloud data collected from an environment surrounding a pathway into categories based on distances between three-dimensional points of respective frames of the point cloud data and a reference plane of the respective frame of the point cloud data, the distances indicating heights of the three-dimensional points of the plurality of frames of the point cloud data;
• merge the frames of the point cloud data of a same one of the categories that matches a pathway object;
• extract, from the merged frames of the point cloud data, candidate point cloud data of three-dimensional points having distances from the pathway that satisfy a predetermined condition;
• and
• extract, from the candidate point cloud data, point cloud data conforming to a feature of the pathway object.

A non-transitory computer-readable medium storing a program executable by a processor to perform:

• classifying a plurality of frames of the point cloud data collected from an environment surrounding a pathway into categories based on distances between three-dimensional points of respective frames of the point cloud data and a reference plane of the respective frame of the point cloud data, the distances indicating heights of the three-dimensional points of the plurality of frames of the point cloud data;
• merging the frames of the point cloud data of a same one of the categories that matches a pathway object;
• extracting from the merged frames of the point cloud data, candidate point cloud data of three-dimensional points having distances from the pathway that satisfy a predetermined condition;
• and
• extracting from the candidate point cloud data, point cloud data conforming to a feature of the pathway object.