Image data target detection rectangular frame automatic labeling method and system
A target detection and image data technology, applied in the field of image processing, can solve problems such as time-consuming and cumbersome processes
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Embodiment 1
[0079] The image data target detection rectangular frame automatic labeling method provided by Embodiment 1 of the present invention (that is, the generation method of the target detection rectangular frame), such as figure 1 As shown, it specifically includes the following steps:
[0080] S11. Collect the image of the target object, and obtain the length, width and height of the target object, as well as the world coordinates of the center point of the target object, the posture information of the target object, the world coordinates of the image collector, and the posture information of the image collector;
[0081] S12. According to the length, width and height of the target, as well as the world coordinates of the center point of the target, the attitude information of the target, the world coordinates of the image collector and the attitude information of the image collector, obtain the minimum circumscribed cuboid of the target through coordinate transformation The pixel...
Embodiment 2
[0216] The embodiment of the present invention is based on the world coordinates of the center point of the target in S1422 in the first embodiment, the world coordinates of the image collector and the attitude information of the image collector, and sequentially pass through the world coordinate system to the coordinate system of the image collector, and the image collector The coordinate transformation from the coordinate system to the image coordinate system, and from the image coordinate system to the pixel coordinate system, to obtain the pixel coordinates of the center point of the target object in the pixel coordinate system, is described in detail as follows:
[0217] S14221', according to the world coordinate P of the center point of the target w =[x w the y w z w ] T , the world coordinates of the camera O c =[x o the y o z o ] T and attitude information (including yaw angle θ, pitch angle and roll angle ω), calculate the coordinates P of the target in the ...
Embodiment 3
[0245] Embodiment 3 of the present invention also provides a method for automatically marking a rectangular frame of image data target detection, such as Figure 6 As shown, it specifically includes the following steps:
[0246] S31. Generate a rectangular frame for target detection in the image;
[0247] S32. Obtain the category of the target object in the image, and add a category label to the target detection rectangle in the image according to the category of the target object, so as to obtain final labeling data of the target object in the image.
[0248] Wherein, in S31, any method in the first or second embodiment may be used to generate a rectangular frame for object detection in the image.
[0249] Based on the same inventive concept, Embodiment 3 of the present invention also proposes an automatic labeling system for image data object detection rectangular frames, which specifically includes the following components:
[0250] Generating means 41, for generating the...
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