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A method and device for processing point cloud data

A point cloud data and processing method technology, applied in the computer field, can solve the problems of unrecognizable point cloud data dynamic targets, high hardware environment requirements, heavy workload, etc., achieve high accuracy, high recognition accuracy, and high recognition efficiency Effect

Active Publication Date: 2022-04-26
BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of realizing the present invention, the inventors found that there are at least the following problems in the prior art: the training samples required for deep learning must be well in line with the characteristics of the point cloud data set; the training samples require a large number of people to manually label, and the workload Large size and low efficiency; the hardware environment requirements for training are high; due to reasons such as occlusion and long distance, many dynamic targets in point cloud data cannot be recognized

Method used

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  • A method and device for processing point cloud data
  • A method and device for processing point cloud data
  • A method and device for processing point cloud data

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Embodiment Construction

[0035] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0036] The words involved in the embodiments of the present invention are explained below.

[0037] Point cloud data refers to a set of vectors in a three-dimensional coordinate system. These vectors are usually expressed in the form of X, Y, Z three-dimensional coordinates, and are generally mainly used to represent the outer surface shape of an object. Not only that, i...

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Abstract

The invention discloses a point cloud data processing method and device, and relates to the technical field of computers. A specific implementation of the method includes: respectively clustering the multi-frame point cloud data of the point cloud data set to obtain corresponding clustering results; calculating the center point of each target individual in each of the clustering results to obtain Determining the moving distance of the target individual; comparing the moving distance with a preset threshold, so as to identify the moving and static state of the target individual according to the comparison result. This method clusters the multi-frame point cloud data separately, and calculates the center point of each target individual in the clustering results to determine the moving distance of the target individual, and then identifies the dynamic and static state of the target individual according to the moving distance. High recognition efficiency and high accuracy.

Description

technical field [0001] The invention relates to the field of computers, in particular to a method and device for processing point cloud data. Background technique [0002] Unmanned vehicles use scanning equipment, such as lidar, cameras, etc., to scan the road and the surrounding environment to obtain the point cloud data required for the driving environment, and then use the scanning equipment, Global Positioning System (Global Positioning System, GPS) and inertial measurement unit ( Inertial Measurement Unit, IMU) and other equipment data fusion to build a high-precision map. Among them, compared with ordinary electronic maps, high-precision maps have higher precision and contain more target features. They are used to provide prior maps for unmanned vehicles, which can assist them in positioning and navigation. [0003] In the process of building a high-precision map, if there are too many dynamic targets on the road, many smears will be left on the map, which will seriou...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/62G06V10/762
CPCG06F18/2321G06F18/23213
Inventor 贾魁
Owner BEIJING JINGDONG SHANGKE INFORMATION TECH CO LTD
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