Point cloud data labeling method, point cloud data labeling device and storage medium
A point cloud data and point data technology, applied in the field of data processing, can solve the problems of increased labor cost, large manual labeling time consumption, low labeling efficiency, etc., and achieve the effects of improving accuracy, saving labeling costs, and ensuring quality
Active Publication Date: 2021-02-09
北京海天瑞声科技股份有限公司
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Although this method can make the labeling results accurate, the labeling efficiency is extremely low, and a large amount of manual labeling time is required, resulting in increased labor costs.
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[0037] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
[0038] In the related art, when marking the target object in the continuous multi-frame point cloud data, after manual judgment in advance, in each frame of point cloud data, draw a rectangular frame on the area where the point cloud data belonging to the target object is determined . Through the algorithm, in the frame point cloud data including the target object, the 3D rectangular ...
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The invention relates to a point cloud data labeling method, a point cloud data labeling device and a storage medium. The point cloud data labeling method comprises the following steps: in continuousmulti-frame point cloud data, determining a plurality of key frame point cloud data including a target object, and labeling 3D rectangular frames of the target object in the key frame point cloud datato obtain a plurality of reference 3D rectangular frames; and based on the reference 3D rectangular frame, determining an initial 3D rectangular frame pre-labeled by the target object in other framesof point cloud data of the multi-frame point cloud data; and based on the one or more reference 3D rectangular frames, adjusting a labeling result of the initial 3D rectangular frame. Through adoption of the point cloud data annotation method provided by the invention, the manual annotation cost can be saved, and the annotation rate is improved. In the labeling process, the pre-labeled initial 3Drectangular frame can be adjusted based on the reference 3D rectangular frame, so that the labeling accuracy of the target object can be improved, and the labeling cost can be saved while the labeling quality can be ensured in the labeling process.
Description
technical field [0001] The present disclosure relates to the technical field of data processing, and in particular to a point cloud data labeling method, a point cloud data labeling device and a storage medium. Background technique [0002] LiDAR (Light Detection and Ranging, LiDAR) is a radar system that emits laser beams to detect the position, speed and other characteristics of the target. The laser is used in the laser radar device as the emission light source, and the laser beam is sent out through the laser. If the laser beam is sent out and encounters an object or obstacle in front, it can bounce back and be received by the laser radar receiver, and then calculate the laser beam. The time difference between the sending time and the receiving time can accurately determine the distance between the object and the lidar. [0003] In automatic driving, based on the data collected by the vehicle-mounted lidar according to the multi-line (16-line, 32-line or 64-line) laser ...
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IPC IPC(8): G01S17/89G01S17/931G01S7/48G06T7/70
CPCG01S7/4802G01S17/89G06T7/70G01S17/931
Inventor 陈佃文黄宇凯郝玉峰李科曹琼
Owner 北京海天瑞声科技股份有限公司