Laser point cloud data labeling method and device

A technology of laser point cloud data and labeling frames, which is applied in the direction of instruments, character and pattern recognition, computer parts, etc., can solve the problems of large amount of laser point cloud data and low accuracy of labeling information

Inactive Publication Date: 2019-08-16
MOMENTA SUZHOU TECH CO LTD
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Problems solved by technology

Due to the huge amount of laser point cloud data, only relying on the manual inspection process for labeling, the accuracy of the labeling information obtained is low

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  • Laser point cloud data labeling method and device
  • Laser point cloud data labeling method and device
  • Laser point cloud data labeling method and device

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Embodiment Construction

[0090] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0091] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally further includes For other steps or units inhe...

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Abstract

The embodiment of the invention discloses a laser point cloud data labeling method and device. The method comprises the steps of obtaining laser point cloud data and a reference image which are collected at the same time and aim at the surrounding environment of the laser radar; obtaining a first labeling operation input for the displayed laser point cloud data; according to a predetermined firstmapping relation between an image coordinate system and a three-dimensional coordinate system, mapping the determined bounding box corresponding to the first labeling operation into the reference image to obtain an image bounding box in the reference image; displaying the image bounding box in an interface for displaying a reference image; and according to the bounding box and attribute information input by aiming at a reference image in the displayed image bounding box, determining marking information corresponding to the laser point cloud data. By applying the scheme provided by the embodiment of the invention, the accuracy of information labeling when the laser point cloud data is labeled can be improved.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a laser point cloud data labeling method and device. Background technique [0002] Laser point cloud data is the type of data returned by lidar, and laser point cloud includes a large amount of laser point data. Lidar can be installed in smart vehicles, robots and other equipment, and is used to determine the obstacle information around the equipment based on the laser point cloud data collected around the equipment. [0003] The currently collected laser point cloud data is too much and complex to be used directly. It needs to be manually identified and marked. The marked laser point cloud data can be used as sample data for the development of machine learning algorithms. Due to the huge amount of laser point cloud data, only relying on the manual inspection process for labeling, the accuracy of the labeling information obtained is low. Contents of the invention ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62
CPCG06F18/217
Inventor 韩嘉杰袁彬徐姗姗
Owner MOMENTA SUZHOU TECH CO LTD
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