Data annotation method and device and electronic equipment

Abstract

The embodiment of the invention discloses a data annotation method which comprises the steps that image data and point cloud data are acquired, annotation targets in the image data comprise annotation targets in a first annotation target set and annotation targets in a second annotation target set, and the annotation targets in the first annotation target set are annotation targets in the point cloud data; determining a three-dimensional envelope of each labeled target in the first labeled target set in the laser radar coordinate system; according to the conversion relation between the camera coordinate system and the laser radar coordinate system and the three-dimensional envelope, obtaining a two-dimensional labeling result of the first labeling target set in the pixel coordinate system; determining a two-dimensional labeling result of the second labeling target set in the pixel coordinate system; determining a three-dimensional labeling result of the second labeling target set in the laser point cloud coordinate system according to a conversion relation between the pixel coordinate system and the laser point cloud coordinate system and the two-dimensional labeling result of the second labeling target set; the method and the device are used for improving the labeling capability of joint labeling on a long-distance detection target.

Description

technical field [0001] The invention relates to the field of computers, in particular to a data labeling method, device and electronic equipment. Background technique [0002] With the development of technology, machine learning has been applied more and more widely. Machine learning refers to the use of computers as tools to simulate human learning methods to solve problems in scientific research or actual production practice. In recent years, as automatic driving has gradually entered people's field of vision, the realization of target detection in the process of automatic driving through machine learning has attracted people's attention. Target detection refers to obtaining the target object of interest in the entire image or more data, usually through the target detection model. Usually, in the process of obtaining the target detection model, the existing data will be marked, and the marked data will form a training data set, which is used to train the model and realiz...

AI Technical Summary

Problems solved by technology

Due to the different working principles of the two detectors, the camera and the LiDAR point cloud, the detection distance of the LiDAR system is smaller than that of the camera, which makes it difficult to mark distant objects in the process of joint labeling.

[0004] Therefore, it is difficult to mark long-distance detection targets by using the above method for joint labeling

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