Method and device for segmenting point cloud data, storage medium and electronic equipment

A point cloud data and cloud data technology, applied in the field of image processing, can solve problems such as loss of flexibility, and achieve the effect of assisted driving decision-making

Active Publication Date: 2022-06-17
NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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  • Claims
  • Application Information

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Problems solved by technology

However, the segmentation methods in the prior art lose their flexibility because they are too dependent on known objects

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  • Method and device for segmenting point cloud data, storage medium and electronic equipment
  • Method and device for segmenting point cloud data, storage medium and electronic equipment
  • Method and device for segmenting point cloud data, storage medium and electronic equipment

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Embodiment Construction

[0018] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all of the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the example embodiments described herein.

[0019] It should be noted that the relative arrangement of the components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0020] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices, or modules, etc., and neither represent any specific technical meaning, nor represent any difference between them. the necessary l...

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Abstract

The embodiment of the present disclosure discloses a method and device for segmenting point cloud data, a storage medium, and an electronic device, wherein the method includes: determining the local area where each point cloud data point in the point cloud data set to be processed is located and dividing it into A predetermined number of sub-regions; sort the point cloud data points in each sub-region to obtain a predetermined number of point cloud data groups of the same order; determine that each point cloud data point in each point cloud data group of the same order corresponds to the corresponding The dependency relationship between adjacent point cloud data points, so as to obtain a predetermined number of dependency relationship sets; based on a predetermined number of dependency relationship sets, determine the probability value of each point cloud data point belonging to the predicted category; according to each point cloud data point The probability values ​​assigned to the predicted categories are used to segment the point cloud dataset to be processed. The embodiments of the present disclosure can be applied to object recognition in an outdoor environment in an unmanned driving scene, so as to better assist driving decision-making, and can also be used for recognition of indoor objects in more complex scenes.

Description

technical field [0001] The present disclosure relates to image processing technology, and in particular, to a method and device, storage medium and electronic device for segmenting point cloud data. Background technique [0002] Scene segmentation or image segmentation is an important technique in machine vision. For technologies such as autonomous driving or home robotics, good segmentation algorithms are the basis for complex functions. The segmentation method includes the following ideas: from low to high, first cluster the image into small pixel groups and then merge them slowly; from top to bottom, use multi-scale templates to segment the image, and then further optimize the segmentation of the image into different objects, and automatically divide the image into different objects. A combination of low-up and top-down approaches. However, state-of-the-art segmentation methods lose flexibility because they rely too much on known objects. SUMMARY OF THE INVENTION [...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/143
CPCG06T7/11G06T7/143G06T2207/10028
Inventor 王浩
Owner NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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