Obstacle fusion-based three-dimensional point cloud data processing method, device and equipment
A technology of 3D point cloud and point cloud data, which is applied in image data processing, 3D modeling, instruments, etc., can solve the problems of high cost and large amount of calculation, and achieve the effect of improving efficiency and reducing cost
Pending Publication Date: 2021-02-05
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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[0005] This application provides a 3D point cloud data processing method, device and equipment based on obstacle fusion for solving the problem of large amount of calculation and high cost when labeling obstacles
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[0029] Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0030] The 3D point cloud data can have high-precision 3D scene information, and then the 3D point cloud data can be applied to various processing processes. Three-dimensional (Three Dimensional, 3D for short) sensors can be used to capture high-precision three-dimensional point cloud data, for example, radar is used to collect three-dimensional point cloud data; the...
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The invention discloses a three-dimensional point cloud data processing method, device and equipment based on obstacle fusion, and relates to automatic driving, intelligent transportation and computervision. The specific implementation scheme includes following steps: acquiring original three-dimensional point cloud data in a real scene, and acquiring a to-be-added obstacle model; fusing the original three-dimensional point cloud data and the to-be-added obstacle model to obtain fused data; carrying out point cloud data reconstruction processing on the fused data to obtain enhanced three-dimensional point cloud data, wherein the enhanced three-dimensional point cloud data comprises point cloud data of the to-be-added obstacle model and original three-dimensional point cloud data. A largeamount of calculation rate is not needed, so that the data annotation cost is reduced, and the data annotation efficiency is improved. The processing process can be repeated for the same original three-dimensional point cloud data to obtain different enhanced three-dimensional point cloud data; furthermore, a large amount of light-weight point cloud data can be amplified to obtain a large amount of enhanced three-dimensional point cloud data.
Description
technical field [0001] This application relates to automatic driving, intelligent transportation and computer vision in data processing, and in particular to a method, device and equipment for processing 3D point cloud data based on obstacle fusion. Background technique [0002] The 3D point cloud data can have high-precision 3D scene information, and then the 3D point cloud data can be applied to various processing processes. For example, apply 3D point cloud data to the fields of autonomous driving and robotics, and then perform obstacle detection based on 3D point cloud data. Before processing the 3D point cloud data, obstacles are added to the 3D point cloud data to obtain a large amount of 3D point cloud data marked with obstacles. [0003] In the prior art, in order to obtain a large amount of 3D point cloud data marked with obstacles, a simulation method may be used to establish 3D point cloud data with marked obstacles. [0004] However, in the prior art, the calcu...
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IPC IPC(8): G06T17/20G06T5/00G06T5/50
CPCG06T17/20G06T5/50G06T2207/10028G06T2207/20221G06T5/92
Inventor 方进周定富张良俊
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD