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Radar point cloud data processing method and device, equipment and storage medium

A technology of point cloud data and radar, applied in the fields of radar point cloud, deep learning, data processing, and automatic driving

Pending Publication Date: 2022-04-08
BEIJING BAIDU NETCOM SCI & TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the current scene distribution of radar point clouds has a long tail effect, and most of the data are common objects

Method used

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  • Radar point cloud data processing method and device, equipment and storage medium
  • Radar point cloud data processing method and device, equipment and storage medium
  • Radar point cloud data processing method and device, equipment and storage medium

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Experimental program
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Embodiment approach

[0057] In one embodiment, the method also includes:

[0058] S31. Use the ground equation to complete the points belonging to the ground in the target location area.

[0059] After the 3D object model is added, in the radar point cloud data, there may still be some points that do not belong to the 3D object model in the target position area where the original target object is located. These points can be regarded as points belonging to the ground, and the ground equations are used to complete these points. In this way, radar point cloud data that is closer to the actual scene can be obtained.

[0060] In addition, if the radar point cloud data also includes points belonging to other objects such as walls that need to be completed, relevant completion algorithms can be used for completion processing.

[0061] In one embodiment, the method also includes:

[0062] S32. Determine semantic information of each point in the target detection frame, where the semantic information in...

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Abstract

The invention provides a radar point cloud data processing method and device, equipment and a storage medium, and relates to the technical field of radar point cloud, automatic driving and deep learning. According to the specific implementation scheme, a target position area where a target object is located is determined by using a target detection frame in radar point cloud data; removing each point of the target object in the target position area from the radar point cloud data; and adding the object model to the target position area. According to the embodiment of the invention, the target object is removed from the radar point cloud data, and the needed three-dimensional model is added to the target position area in the radar point cloud data, so that richer radar point cloud data can be obtained.

Description

[0001] This application claims priority to the U.S. Patent Application No. 17 / 325,762 filed with the U.S. Patent Office on May 20, 2021, entitled "Radar Point Cloud Data Processing Method, Apparatus, Equipment, and Storage Medium," the entire contents of which Incorporated in this application by reference. technical field [0002] The present disclosure relates to the technical field of data processing, and in particular to the technical fields of radar point cloud, automatic driving, and deep learning. Background technique [0003] With the rise of technologies such as autonomous driving, radar equipment is playing an increasingly important role in these technologies for safety reasons. Due to its insensitivity to lighting conditions and good distance perception capabilities, radar has almost become the standard configuration of most autonomous driving companies. Due to the rise of deep learning technology and 3D technology, target detection based on radar point cloud data...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/931G01S17/931G01S7/02G01S7/48G06T7/73G06T15/20G06T19/20
CPCG01S13/42G01S13/89G01S13/931G01S17/89G01S17/931G01S17/42G01S17/894G01S7/497G06T7/50
Inventor 方进周定富宋希彬张良俊
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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