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Point cloud instance segmentation method and device, electronic equipment and storage medium

A point cloud and midpoint technology, applied in the field of computer vision, can solve the problems affecting the accuracy and accuracy of point cloud instance segmentation results, and achieve the effect of improving accuracy and accuracy

Pending Publication Date: 2021-11-02
BEIJING HORIZON INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, a proposal-based instance segmentation method is mainly used for point cloud instance segmentation. Due to the difficulty in predicting accurate 3D bounding boxes (bounding boxes), the accuracy and accuracy of point cloud instance segmentation results are affected. accuracy

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  • Point cloud instance segmentation method and device, electronic equipment and storage medium
  • Point cloud instance segmentation method and device, electronic equipment and storage medium
  • Point cloud instance segmentation method and device, electronic equipment and storage medium

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Embodiment Construction

[0038] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.

[0039] It should be noted that relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0040] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc. necessary logical sequence.

[0041] It should also be understood that in the embodiments of the present disclosure, "...

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Abstract

The embodiment of the invention discloses a point cloud instance segmentation method and device, electronic equipment and a storage medium. The method comprises the steps: predicting a semantic tag of each point in point cloud of a target scene; clustering the points in the point cloud based on the semantic tags of the points to obtain at least one point set, wherein in the at least one point set, the semantic tags of the points in the same point set are the same; based on the semantic tags of the at least one point set, clustering the at least one point set to obtain a first instance segmentation result, wherein the first instance segmentation result comprises the point set corresponding to the at least one instance; predicting the confidence of each instance in the first instance segmentation result; and filtering the first instance segmentation result based on the confidence of each instance to obtain a second instance segmentation result. According to the embodiment of the invention, a finer and more accurate instance segmentation result can be generated.

Description

technical field [0001] The present disclosure relates to computer vision technology, in particular to a point cloud instance segmentation method and device, electronic equipment and a storage medium. Background technique [0002] In computer vision, the instance segmentation task first classifies each pixel in the image to form a semantic segmentation result, and on this basis, classifies the pixels under each category according to the objects they belong to to distinguish each pixel. The instance the pixel belongs to. Instance segmentation has a very wide range of applications in areas such as unmanned driving and home robots. [0003] Instance segmentation of three-dimensional (3D) vision is of great significance in real life. For example, in automatic driving, in addition to detecting vehicles and pedestrians on the road, it is also necessary to accurately control the distance between vehicles and pedestrians. In 3D vision, point clouds are a common form of data. Point...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/34G06K9/62G06N3/04
CPCG06N3/045G06F18/231
Inventor 陈少宇程天恒张骞黄畅
Owner BEIJING HORIZON INFORMATION TECH CO LTD