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Method and device for realizing laser point cloud densification and computer equipment

A laser point cloud, dense technology, applied in the computer field, can solve the problem of poor densification effect of laser point cloud, and achieve the effect of densification

Active Publication Date: 2019-03-19
TENCENT TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problem that the densification effect of laser point cloud is relatively poor in the related art, each embodiment of the present invention provides a method, device and computer equipment for realizing densification of laser point cloud

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  • Method and device for realizing laser point cloud densification and computer equipment
  • Method and device for realizing laser point cloud densification and computer equipment
  • Method and device for realizing laser point cloud densification and computer equipment

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Embodiment Construction

[0035] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0036] As mentioned above, the existing laser point cloud densification scheme usually adopts the interpolation method to up-sample the laser point cloud to achieve the densification effect of the laser point cloud. However, limited by the rules that the interpolation method relies on, for example, the rules include nearest neighbor interpolation, bilinear interpolation, etc., making the densificati...

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Abstract

The invention discloses a method and device for realizing laser point cloud densification and computer equipment. The method for achieving laser point cloud densification comprises the steps that original point cloud of a target scene is obtained; projecting the original point cloud to a cylindrical surface according to a front view angle, generating a first front view, the front view angle beingrelated to an azimuth angle when the laser radar collects the original point cloud; based on a mapping relation between different resolution front views constructed by a deep learning model, mapping the first front view to obtain a second front view, the resolution of the second front view being higher than the resolution of the first front view; and projecting the second front view to a coordinate system where the original point cloud is located to obtain dense point cloud of the target scene. By adopting the method and the device for realizing laser point cloud densification and the computerequipment provided by the invention, the problem of relatively poor densification effect of the laser point cloud in the prior art is solved.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method, device and computer equipment for realizing laser point cloud densification. Background technique [0002] A high-precision map is a map used for assisted driving, semi-autonomous driving, or unmanned driving. It consists of a series of map elements. For example, map elements include: curbs, guardrails, etc. Among them, in the process of generating a high-precision map, the map elements are first extracted from the laser point cloud, and then the extracted map elements are manually edited to generate a high-precision map. [0003] It can be seen from the above that the extraction of map elements depends on the laser point cloud. If the laser point cloud is too sparse, the accuracy of map elements will not be high, and eventually affect the production efficiency of high-precision maps. For this reason, the existing laser point cloud densification scheme usually adopts...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T15/00G06T17/05G06N3/04
CPCG06T15/005G06T17/05G06T2207/20084G06T2207/10044G06T2207/10028G06N3/045
Inventor 陈仁孙银健黄天
Owner TENCENT TECH (SHENZHEN) CO LTD
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