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Object recognition method and device and storage medium

An object recognition and cloud object technology, applied in character and pattern recognition, instruments, computer parts, etc., can solve the problems of cumbersome labeling operations and general object recognition efficiency, and achieve the effect of improving labeling speed, efficiency and accuracy.

Pending Publication Date: 2022-03-08
智道网联科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When labeling objects in point cloud data, multiple operations such as zooming, translation, and rotation are required. The entire labeling operation is cumbersome, resulting in average object recognition efficiency.

Method used

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  • Object recognition method and device and storage medium
  • Object recognition method and device and storage medium
  • Object recognition method and device and storage medium

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Embodiment Construction

[0027] The terms "target" and "candidate" in the description and claims of the embodiments of the present application and the above drawings are used to distinguish similar objects, but not necessarily to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or modules is not necessarily limited to the expressly listed Those steps or modules, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products or equipment. The division of modules that appear in the embodiments of the present application is only...

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Abstract

The embodiment of the invention relates to the technical field of automatic driving, and provides an object recognition method and device and a storage medium, and the scheme comprises the steps: determining a target point cloud object in an initial point cloud according to a preset mapping relation and a target object in a first image, the preset mapping relationship comprises a coordinate mapping relationship between the first image and the initial point cloud, the target object and the target point cloud object correspond to the same entity target, and the first image and the initial point cloud are synchronized in a time domain; obtaining a target point cloud covered by the target object; determining a labeling sample of the target object according to the object type of the target object and the target point cloud; and outputting a recognition result, wherein the recognition result is obtained according to the labeling sample and the object type. According to the scheme, the recognition efficiency of the object in the point cloud data can be improved.

Description

technical field [0001] The embodiment of the present application relates to the technical field of automatic driving, and specifically relates to an object recognition method, device and storage medium. Background technique [0002] In the field of autonomous driving, autonomous vehicles usually collect two types of data, for example, images captured by driving recorders and point cloud data collected by radar. Usually, the objects in the image and point cloud data are marked separately (for example, using a labeling tool such as Cloud Compare), and then the same object is associated. These two types of data can identify and estimate the semantic and geometric information of key elements such as vehicles, lane lines, pedestrians, and traffic signs in the surrounding environment, so as to assist autonomous vehicles to perceive the environment and plan autonomous driving routes. [0003] The data that needs to be marked includes pedestrians, various motor vehicles and non-mot...

Claims

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Application Information

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IPC IPC(8): G06V20/56G06V10/764G06V10/774G06K9/62
CPCG06F18/214G06F18/24
Inventor 单国航贾双成朱磊李成军
Owner 智道网联科技(北京)有限公司
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