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Point cloud data labeling method and device, electronic equipment and storage medium

A point cloud data and label frame technology, applied in the field of image processing, can solve problems such as high labor costs, reduced detection accuracy of 3D target detection, and inability to guarantee the quality of point cloud labeling and the number of point cloud labeling

Pending Publication Date: 2020-11-13
SHENZHEN SENSETIME TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The method of manually labeling point cloud data has high labor costs, and the quality and quantity of point cloud labeling cannot be guaranteed, which reduces the detection accuracy of 3D object detection

Method used

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  • Point cloud data labeling method and device, electronic equipment and storage medium
  • Point cloud data labeling method and device, electronic equipment and storage medium
  • Point cloud data labeling method and device, electronic equipment and storage medium

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Embodiment Construction

[0058]In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without ...

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Abstract

The invention provides a point cloud data labeling method and device, and the method comprises the steps: firstly carrying out the object recognition of to-be-recognized point cloud data, and obtaining a detection box of an object in the to-be-recognized point cloud data; determining point cloud data to be labeled according to a detection box of an object identified in the to-be-recognized point cloud data; obtaining a manual labeling box of an object in the point cloud data to be labeled; and finally, according to the detection box and the manual labeling box, determining a labeling box of anobject in the to-be-recognized point cloud data. According to the invention, the detection box of an object obtained by automatically labeling point cloud data is combined with the residual point cloud data after the automatic point cloud data is labeled manually and the obtained manual labeling box for processing, so that the labeling box of the object can be accurately determined, the labelingspeed is increased and the labeling cost is reduced.

Description

technical field [0001] The present application relates to the field of image processing technology, in particular, to a point cloud data labeling method and device, electronic equipment and a storage medium. Background technique [0002] 3D object detection based on LiDAR is a core technology in the field of autonomous driving. Specifically, in the process of target detection, the laser radar is firstly used to obtain point data on the appearance surface of objects in the environment to obtain point cloud data; after that, the point cloud data is manually marked to obtain the label frame of the target object. [0003] The method of manually labeling point cloud data has high labor costs, and the quality and quantity of point cloud labeling cannot be guaranteed, which reduces the detection accuracy of 3D object detection. Contents of the invention [0004] The embodiments of the present application at least provide a point cloud data labeling method and device, which can i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/62G06N3/04G06N3/08G06T7/136
CPCG06T7/136G06N3/08G06T2207/10028G06T2207/20081G06T2207/20084G06V20/13G06V10/25G06V2201/07G06N3/045G06F18/214G06V20/70G06T7/73G06T2207/20104G06T7/11G06T7/70G06V10/421G06V10/82
Inventor 杨国润梁曦文王哲
Owner SHENZHEN SENSETIME TECH CO LTD
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