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Point cloud entity labeling system, method and device and electronic equipment

An electronic device and entity technology, applied in the field of data processing, can solve the problems of inability to ensure the quality of annotation and low efficiency of point cloud entity annotation.

Active Publication Date: 2020-04-14
浙江菜鸟供应链管理有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] This application provides a point cloud entity labeling device to solve the problems existing in the prior art that the point cloud entity labeling efficiency is low and the labeling quality cannot be ensured

Method used

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  • Point cloud entity labeling system, method and device and electronic equipment
  • Point cloud entity labeling system, method and device and electronic equipment
  • Point cloud entity labeling system, method and device and electronic equipment

Examples

Experimental program
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no. 1 example

[0152] Please refer to figure 1 , which is a schematic structural diagram of an embodiment of a point cloud entity tagging system provided by the present application. In this embodiment, the system includes a first point cloud entity labeling device 1 and a second point cloud entity labeling device 2 .

[0153] Wherein, the first point cloud entity tagging device 1 can be deployed in terminal devices such as personal computers, mobile communication devices, PADs, and iPads. The second point cloud entity labeling device 2 can be deployed on a server, but is not limited to the server, and can also be any device capable of realizing corresponding functions.

[0154] Please refer to figure 2 , which is an interactive schematic diagram of an embodiment of a point cloud entity tagging system provided by the present application. Depend on figure 2 As shown, the first point cloud entity labeling device 1 is used to send the first labeling request for the target point cloud data ...

no. 2 example

[0194] Please see Figure 6 , which is a flowchart of an embodiment of the point cloud entity labeling method of the present application. Since the method embodiments are basically similar to the system embodiments, the description is relatively simple, and for relevant parts, please refer to part of the description of the system embodiments. The method embodiments described below are illustrative only.

[0195] This application additionally provides a point cloud entity labeling method, including:

[0196] Step S601: Send a first labeling request for target point cloud data to a second point cloud entity labeling device.

[0197] The first labeling request may include an identification of the target point cloud data.

[0198] In an example, the method further includes the following steps: 1) acquiring a target point cloud data labeling task; 2) determining a target point cloud data identifier from the target point cloud data labeling task.

[0199] Step S602: Receive the ...

no. 3 example

[0214] Please see Figure 8 , which is a schematic diagram of an embodiment of the point cloud entity tagging device of the present application. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, refer to the part of the description of the method embodiment. The device embodiments described below are illustrative only.

[0215] The present application additionally provides a point cloud entity tagging device, including:

[0216] A first labeling request sending unit 801, configured to send a first labeling request for the target point cloud data to the second point cloud entity labeling device;

[0217] A target point cloud data return unit 802, configured to receive the target point cloud data returned by the second point cloud entity labeling device;

[0218] A 3D scene graph display unit 803, configured to display a 3D scene graph corresponding to the target point cloud data;

[0219] ...

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Abstract

The invention discloses a point cloud entity labeling system, method and device, a point cloud entity labeling task setting method and device and electronic equipment. The point cloud entity labelingmethod comprises the following steps: displaying a three-dimensional scene graph corresponding to point cloud data to be labeled; determining two-dimensional bounding box information of a target entity in the three-dimensional scene graph; determining point cloud data corresponding to the target entity according to the two-dimensional bounding box; determining entity type information of the targetentity; and marking the point cloud data corresponding to the target entity as the entity type information. With application of the processing mode, labeling personnel only need to frame the target entity through the two-dimensional bounding box at a certain view angle of the three-dimensional scene graph, the system can automatically analyze the point cloud position which the two-dimensional bounding box hopes to frame, and the labeling personnel are automatically helped to locate the point cloud data corresponding to the target entity. Therefore, the point cloud entity labeling efficiency can be effectively improved, and the point cloud entity labeling quality can be effectively improved.

Description

technical field [0001] The present application relates to the technical field of data processing, in particular to a point cloud entity labeling system, method and device, a point cloud entity labeling task setting method and device, and electronic equipment. Background technique [0002] Unmanned driving technology is a major research hotspot in the field of automation in recent years. In the unmanned driving perception module, the entity (such as vehicle type, pedestrian, etc.) in the 3D laser point cloud scanned by the radar is recognized to perceive the road conditions. is a very important part. With the deepening of research, more and more algorithms have been studied in this field, and these algorithms require a large amount of high-quality point cloud annotation data. [0003] At present, the processing procedure of a typical point cloud entity labeling method is as follows. First, receive laser point cloud data; construct a 3D scene, and establish a 3D coordinate s...

Claims

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Application Information

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IPC IPC(8): G06T19/20G06K9/00
CPCG06T19/20G06T2200/04G06V20/56Y02D10/00
Inventor 麦港林沈慧林泽锐
Owner 浙江菜鸟供应链管理有限公司
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