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Method and device for marking point cloud data

A technology of point cloud data and cloud data, which is applied in the directions of measuring devices, image data processing, and re-radiation, can solve the problems of low labeling accuracy, long time consumption, and difficulty in point cloud labeling, etc. The effect of manual workload and reduction of labeling costs

Active Publication Date: 2018-04-20
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the insufficient density of point cloud data and the change of angle when collecting point cloud data make point cloud labeling difficult, requiring labelers to spend a long time for labeling, and the labeling accuracy is not high

Method used

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  • Method and device for marking point cloud data
  • Method and device for marking point cloud data
  • Method and device for marking point cloud data

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Embodiment Construction

[0024] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0025] It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0026] figure 1 An exemplary system architecture 100 is shown to which embodiments of the method or apparatus for labeling point cloud data of the present application may be applied.

[0027] like figure 1 As shown, the system architect...

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Abstract

The application discloses a method and a device for marking point cloud data. According to a specific implementation, the method includes the following steps: using a laser radar and a sensor different from the laser radar to collect the data of the same scene to obtain point cloud data and sensor data; segmenting and tracking the point cloud data to obtain a point cloud segmenting and tracking result; identifying and tracking the features in the sensor data to obtain a feature identifying and tracking result; using the feature identifying and tracking result to correct the point cloud segmenting and tracking result to obtain the confidence of the point cloud segmenting and tracking result; and determining a point cloud segmenting and tracking result of which the confidence is greater thana confidence threshold as a point cloud marking result. The implementation reduces the manual workload of point cloud data marking and reduces the cost of marking.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to the technical field of point cloud data processing, and in particular to a method and apparatus for labeling point cloud data. Background technique [0002] When training a recognition algorithm involving point cloud data, a large number of labeled point cloud data will be used as training samples to optimize the obstacle recognition algorithm. Therefore, it is necessary to collect a large number of point cloud data of different scenes in advance and label them accurately to ensure the smooth progress of the optimization process. [0003] However, the insufficient density of point cloud data and the change of angle when collecting point cloud data make point cloud labeling difficult, requiring labelers to spend a long time to label, and the labeling accuracy is not high. Therefore, it is urgent to improve the efficiency of point cloud data annotation. SUMMARY OF TH...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/136G06K9/00G01S17/86G01S17/931G06V10/40
CPCG06T2207/10028G06T2207/30252G06V20/58G01S7/4808G01S17/86G01S17/931G06V40/161G06V20/10G06V10/40G06V20/625G06V20/70G06T7/11G06T7/246G06T7/73G01S17/66G06T2207/10004G06T2207/10016
Inventor 詹君吕厚昌韩旭
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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