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Method and device for generating three-dimensional data, apparatus and storage medium

A three-dimensional data and three-dimensional technology, applied in the field of information processing, can solve problems such as unsatisfactory acquisition of three-dimensional information data, expensive and time-consuming three-dimensional information, and achieve the effect of reducing costs and improving efficiency

Active Publication Date: 2019-01-18
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the existing technology, the detection of 3D information needs to rely on the labeling of the 3D information of the vehicle, and the labeling method is limited to manual labeling. Therefore, the labeling of 3D information is often expensive and time-consuming, and the existing low-cost and fast 2D labeling The method cannot meet the requirements of obtaining three-dimensional information data

Method used

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  • Method and device for generating three-dimensional data, apparatus and storage medium
  • Method and device for generating three-dimensional data, apparatus and storage medium
  • Method and device for generating three-dimensional data, apparatus and storage medium

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Embodiment 1

[0026] Figure 1a It is a flow chart of a method for generating 3D data provided by Embodiment 1 of the present invention. This embodiment is applicable to the case of labeling objects with 3D information, and the method can be executed by the device for generating 3D data provided by the embodiment of the present invention. , the device can be implemented in the form of software and / or hardware, and can generally be integrated into computer equipment. Such as Figure 1a As shown, the method of this embodiment specifically includes:

[0027] S110. Obtain an annotation result of the contour information of the target object in the two-dimensional image.

[0028] In this embodiment, the image of the target object collected from a preset angle can be used as a two-dimensional image of the target object, wherein the preset angle includes but is not limited to any orientation when the device and the target object are on the same horizontal line. For example, the laser radar on the ...

Embodiment 2

[0049] figure 2 It is a flow chart of a method for generating three-dimensional data provided by Embodiment 2 of the present invention, and this embodiment is embodied on the basis of the foregoing embodiments. In this embodiment, the target object is further optimized as a vehicle, and the outline information labeling result is further optimized to include: the outer frame of the vehicle, and the position of the dividing line between the front and the body of the vehicle in the outer frame.

[0050] Correspondingly, the method of this embodiment includes:

[0051] S210. Obtain the contour information annotation result of the vehicle in the two-dimensional image, wherein the contour information annotation result includes: the outer frame of the vehicle, and the position of the dividing line between the front and the body of the vehicle in the outer frame.

[0052] In this embodiment, the outer frame of the vehicle may specifically be the circumscribed rectangular frame of th...

Embodiment 3

[0074] image 3 A schematic structural diagram of a three-dimensional data generating device provided in Embodiment 3 of the present invention, as shown in image 3 As shown, the device includes: a result acquisition module 310 , a three-dimensional calculation module 320 , a coordinate determination module 330 and a data generation module 340 .

[0075] The result obtaining module 310 is used to obtain the contour information labeling result of the target object in the two-dimensional image;

[0076] A three-dimensional calculation module 320, configured to calculate the depth of field of the target object and the three-dimensional orientation of the target object according to the contour information annotation result and the standard three-dimensional size of the target object;

[0077] A coordinate determining module 330, configured to determine the three-dimensional coordinates of the reference two-dimensional image point according to the two-dimensional coordinates of th...

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Abstract

The embodiment of the invention discloses a method and a device for generating three-dimensional data, an apparatus and a storage medium. The method comprises the following steps: obtaining a contourinformation labeling result of a target object in a two-dimensional image; Calculating a depth of field of the target object and a three-dimensional orientation of the target object according to the outline information labeling result and a standard three-dimensional size of the target object; Determining three-dimensional coordinates of the reference two-dimensional image point according to two-dimensional coordinates of the reference two-dimensional image point in the two-dimensional image in the target object and the depth of field; Generating three-dimensional data matching the target object according to the three-dimensional coordinates of the reference two-dimensional image point and the three-dimensional orientation of the target object. The technical scheme of the embodiment of theinvention can reduce the cost of the three-dimensional annotation and improve the efficiency of the three-dimensional annotation.

Description

technical field [0001] Embodiments of the present invention relate to information processing technologies, and in particular, to a method, device, device, and storage medium for generating three-dimensional data. Background technique [0002] In autonomous driving, the detection of 3D information of vehicles is crucial for perception and planning in the driving environment. [0003] In the existing technology, the detection of 3D information needs to rely on the labeling of the 3D information of the vehicle, and the labeling method is limited to manual labeling. Therefore, the labeling of 3D information is often expensive and time-consuming, and the existing low-cost and fast 2D labeling The method cannot meet the requirements of obtaining three-dimensional information data. Contents of the invention [0004] Embodiments of the present invention provide a method, device, device and storage medium for generating 3D data, so as to reduce the cost of 3D labeling and improve ...

Claims

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Application Information

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IPC IPC(8): G06T7/60G06T7/73G06T7/50
CPCG06T7/50G06T7/60G06T7/73G06T2207/10004G06T2207/30252G06T7/74G06T7/70G06T7/11G06T7/187
Inventor 王煜城孙迅夏添
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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