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Point cloud semantic segmentation method, device and equipment

A semantic segmentation and point cloud technology, which is applied in the computer field, can solve the problem of directly processing point cloud data with too much calculation, and achieve the effect of reducing calculation and ensuring accuracy and integrity

Pending Publication Date: 2020-12-29
上海眼控科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] One purpose of the present application is to provide a method, device and equipment for point cloud semantic segmentation, which solves the problem of excessive calculation of directly processing point cloud data in the prior art

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  • Point cloud semantic segmentation method, device and equipment
  • Point cloud semantic segmentation method, device and equipment
  • Point cloud semantic segmentation method, device and equipment

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Embodiment Construction

[0048] The application will be described in further detail below in conjunction with the accompanying drawings.

[0049] In a typical configuration of the present application, the terminal, the device serving the network and the trusted party all include one or more processors (CPUs), input / output interfaces, network interfaces and memory.

[0050] Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and / or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.

[0051] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random acce...

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Abstract

The invention aims to provide a point cloud semantic segmentation method, device and equipment. The method comprises the steps: carrying out the voxelization of to-be-detected point cloud data, and obtaining voxelized point cloud data; calculating the voxelized point cloud data by using a preset point cloud semantic segmentation model to determine a semantic segmentation result; decoding the semantic segmentation result to determine a decoding result, and calculating the decoding result based on the index of each point of the decoding result in each dimension direction to obtain target point cloud data; and according to the target point cloud data, classifying all the to-be-detected point cloud data to determine category information of all the to-be-detected point cloud data. Therefore, the calculation amount of semantic segmentation is reduced, and the correctness and integrity of point cloud semantic segmentation results in all scenes are ensured.

Description

technical field [0001] The present application relates to the field of computers, in particular to a method, device and equipment for point cloud semantic segmentation. Background technique [0002] The main function of the semantic segmentation algorithm based on 2D images is to divide the pixels belonging to different objects on the image into regions. Similarly, the main function of the semantic segmentation algorithm based on 3D point cloud is to divide the point cloud belonging to different objects in the scene. The existing point cloud semantic segmentation algorithms include: PointNet, PointNet++, PointSIFT, etc. Such methods directly process point cloud data, outputting semantic segmentation categories for each point cloud. Although this type of algorithm has achieved a relatively high segmentation accuracy, due to the direct processing of point cloud data, the amount of calculation is large, which limits the practical application of this type of algorithm. Conte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/34G06K9/62
CPCG06V10/267G06F18/214G06F18/24
Inventor 魏宇飞
Owner 上海眼控科技股份有限公司