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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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  • Claims
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AI Technical Summary

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 independently, and these parsing processes do not have any timing relationship, the semantic numbers of the same object in adjacent frames are inconsistent

Method used

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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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Embodiment Construction

[0032]Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention 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 invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0033] figure 1 is a schematic diagram of the main flow of the method for point cloud panorama segmentation according to an embodiment of the present invention, as figure 1 as shown,

[0034] Step S101: the step of point cloud mapping, projecting the collected point cloud into the world coordinate system to obtain the point cloud for mapping;

[0035] Step S102: a vide...

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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...

Claims

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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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