Method and device for calibrating three-dimensional object

A technology of three-dimensional objects and target objects, which is applied in the field of laser scanning, can solve the problems that affect the accuracy of the three-dimensional bounding box and the model is not accurate enough, so as to achieve the effect of improving accuracy and accurately determining

Inactive Publication Date: 2019-09-24
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the above scheme requires a large amount of labeled data. If the labeled data is insufficient, the trained model will not be accurate enough, which will affect the accuracy of the 3D bounding box of the output target object.

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  • Method and device for calibrating three-dimensional object
  • Method and device for calibrating three-dimensional object

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Embodiment Construction

[0049] The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are only examples of devices and methods consistent with some aspects of the application as detailed in the appended claims.

[0050] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the ter...

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Abstract

The invention provides a method and a device for calibrating a three-dimensional object. The method comprises the following steps: acquiring three-dimensional laser point cloud data; mapping the point cloud data to an image coordinate system based on a pre-acquired calibration matrix to obtain two-dimensional coordinates of the point cloud data; determining target point cloud data of the target object based on the two-dimensional coordinates and a two-dimensional boundary frame of the target object in the image coordinate system, and determining a label of the target object in the image coordinate system; and determining a three-dimensional boundary frame of the target object based on the target point cloud data, and associating the three-dimensional boundary frame with the tag. According to the method and the device, the three-dimensional boundary frame of the target object can be accurately determined, so that the accuracy of calibrating the three-dimensional target object can be improved.

Description

Technical field [0001] This application relates to the field of laser scanning technology, and in particular to a method and device for calibrating a three-dimensional object. Background technique [0002] Obstacle detection and recognition is a key technology in the unmanned driving technology system. In the process of unmanned driving, the length, width and height of obstacles need to be determined. Therefore, it is necessary to perform three-dimensional detection and recognition of obstacles to obtain the 3D bounding box of the obstacle. ). [0003] In the prior art, 3D point cloud data is usually collected, and objects to be detected are labeled, and then a model for detecting and recognizing target objects is trained based on the labeled data to output a three-dimensional bounding box of the target object. [0004] However, the above solution requires a large amount of labeled data. If the labeled data is insufficient, the trained model will be inaccurate, which will affect the...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/521G06T7/80
CPCG06T7/521G06T7/85G06T2207/10028G06T2207/30252
Inventor 刘朋浩刘宇达
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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