Point cloud panoramic segmentation method and device

A point cloud and panorama technology, applied in the electronic field, can solve the problems of inconsistency in image panorama segmentation time, inconsistency in semantic numbering of the same object, etc.

Pending Publication Date: 2021-09-10
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology

[0006] However, it is obvious that there is a problem of time inconsistency in the above image panorama segmentation
That is, because video frames are parsed

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  • Point cloud panoramic segmentation method and device
  • Point cloud panoramic segmentation method and device
  • Point cloud panoramic segmentation method and device

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[0032]The exemplary embodiments of the present invention will be described below, including various details of the embodiments of the present invention to help understand, and they should be considered as exemplary. Accordingly, it will be appreciated by those skilled in the art that various changes and modifications described herein are made without departing from the scope and spirit of the invention. Similarly, a description of the well-known functions and structures is omitted in order to clear and concise, the following description is omitted.

[0033] figure 1 The schematic flow of the method is the main point cloud embodiment of the present invention embodiment panoramic segmented, such as figure 1 Distance

[0034] Step S101: Point cloud built FIG step, the acquired point cloud projected to world coordinates, to obtain the point cloud FIG construction;

[0035] The step S102: step associated with a video frame, each point of the point cloud point cloud is built FIG projec...

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Abstract

The invention provides a point cloud panoramic segmentation method and device. The method comprises the steps: a point cloud mapping step: projecting a collected point cloud to a world coordinate system, so as to obtain a mapping point cloud; and a video frame association step: projecting each point cloud point in the mapping point cloud to a projectable video frame, and a panoramic segmentation step: carrying out panoramic segmentation on the projectable video frame so as to carry out unified numbering on the semantic recognition probability of each point cloud point. The invention provides a point cloud panorama segmentation method with time-space consistency while mapping by means of a laser radar, a camera and/or a combined inertial navigation system, and provides a point cloud panorama segmentation method with time-space consistency.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to a large-scale point cloud panorama segmentation method and device under multi-sensor fusion mapping. Background technique [0002] Generally speaking, a point cloud refers to a collection of points in a three-dimensional space coordinate system, which can be acquired by laser radar emitting a laser beam to a target, and can also be obtained by diluting point extraction for modeling and simulation objects. Each point cloud point can carry information such as spatial position, intensity, color and time. [0003] Point cloud panorama segmentation can be applied in industries such as automatic driving, indoor simulation, high-precision map making, and augmented reality. The purpose of panoptic segmentation is to identify semantic attributes for each street point cloud point and to number the point cloud points belonging to foreground objects. Instance perception of semantic poi...

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Application Information

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IPC IPC(8): G06T7/10
CPCG06T7/10G06T2207/10016G06T2207/10028G06T2207/10044
Inventor 李艳丽南莉俊
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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