Vehicle bounding box generation method, device and storage medium in unmanned scene
A kind of unmanned driving and bounding box technology, which is applied in 2D image generation, image data processing, instruments, etc., can solve the problems of poor accuracy and unsatisfactory effect, and achieves the goal of improving accuracy, satisfying real-time processing, and realizing simple and convenient operation. Effect
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[0047] Aiming at the problems existing in the prior art, the present invention proposes a vehicle bounding box generation method in an unmanned driving scene, using the scanning characteristics of the laser radar to generate a vehicle bounding box in a single frame scene.
[0048] In unmanned driving scenarios, lidar can be used to collect point cloud data of unmanned vehicles. Due to occlusion and other reasons, the point cloud is relatively sparse, and it is often only in the head-on scanning direction of the lidar, that is, in the face of the lidar. The point cloud is relatively dense, while the point cloud of the part facing away from the lidar is often sparse or even missing.
[0049] Therefore, it is proposed in the present invention that in the process of generating the vehicle bounding box, it is necessary to avoid the bounding box formed along the edge of the point cloud of the part facing away from the lidar as much as possible.
[0050] In order to make the technica...
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