Method and device for labeling object in 3D point cloud data
A point cloud data, 3D technology, applied in the field of image processing, can solve problems such as low efficiency and slow labeling speed, and achieve the effect of solving slow operation speed, low solution efficiency, and improving operation speed and operation efficiency.
Active Publication Date: 2020-03-03
BEIJING TUSEN ZHITU TECH CO LTD
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[0005] In view of this, the present invention provides a method and device for labeling objects in 3D point cloud data, which are used to solve the problems of slow labeling speed and low efficiency in labeling objects in 3D point cloud data in the prior art
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[0032] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0033] In the prior art, when an operator annotates an object in 3D point cloud data, usually by observation, multiple data points in the 3D space are identified by a 3D bounding box, which has the problems of slow annotation speed and low efficiency.
[0034] In response to this problem, embodiments of the present appli...
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The invention discloses a method and a device for labeling objects in 3D point cloud data, which are used for solving the problems of low labeling speed and low efficiency of labeling the objects in the 3D point cloud data in the prior art. The method comprises the steps that a labeling device receives a first point in an input current 3D point cloud data frame and receives a reference space direction in an input three-dimensional space; wherein the reference space direction comprises an x-axis direction, a y-axis direction or a z-axis direction; displaying all 3D point cloud data points on aplane perpendicular to the reference space direction as a predetermined color on the position coordinates of the first point; receiving an input second point, and receiving an input object attribute;generating a predetermined 3D bounding box corresponding to the input object attribute outside the second point; and establishing an association relationship between the data points in the 3D boundingbox and the input object attributes.
Description
Technical field [0001] The present invention relates to the field of image processing, in particular to a method and device for labeling objects in 3D point cloud data. Background technique [0002] In technical fields such as autonomous driving, operators need to mark various objects in the 3D point cloud data obtained by lidar (LIDAR) to meet the processing needs of object recognition. [0003] When an operator annotates an object in 3D point cloud data, usually by observation, multiple data points in the 3D space are identified with a 3D bounding box, and the points in the 3D bounding box are associated with object attributes. In the process of labeling, the 3D bounding box needs to be adjusted in the x, y, and z axis directions to ensure that the 3D bounding box can include all the data points that express the object. During the adjustment process, it may be necessary to continuously convert the point cloud data to the x-axis view, the y-axis view, or the z-axis view to ensure...
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Login to View More IPC IPC(8): G06T19/20G06K9/00
CPCG06T19/20G06V20/56
Inventor 陈利虎郑贺
Owner BEIJING TUSEN ZHITU TECH CO LTD