Point cloud processing method and device and vehicle
A processing method and point cloud technology, applied in the field of artificial intelligence, can solve problems such as low filtering reliability, and achieve the effects of improving accuracy and reliability, improving technical effects, and improving robustness.
Pending Publication Date: 2022-05-06
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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Problems solved by technology
[0004] However, this method is based on the assumption of outliers and can only remove part of the noise points, resulting in a technical problem of low reliability of filtering
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[0033] The exemplary embodiments of the present disclosure are described below in combination with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered only exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted from the following description.
[0034] The auto drive system is a system that operates the vehicle automatically and safely, that is, based on the auto drive system, it can realize the safe autopilot of the vehicle. Auto drive system is realized by cooperation of different devices or equipment. For example, radar (Radiodetection and ranging) plays a key role in auto drive system.
[0035]Among them, rada...
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The invention provides a point cloud processing method and device and a vehicle, and relates to the field of artificial intelligence, in particular to computer vision, 3D vision and deep learning technologies, and the method comprises the steps: obtaining a three-dimensional point cloud and a two-dimensional image corresponding to the three-dimensional point cloud, carrying out the semantic segmentation processing of the two-dimensional image, and obtaining the category label of a pixel point in the two-dimensional image, the category label is used for representing the obstacle category corresponding to the pixel point, and the three-dimensional point cloud is filtered according to the category label to obtain the filtered three-dimensional point cloud, so that the defect of low filtering comprehensiveness caused by'outlier removal 'in related technologies is avoided, the filtering comprehensiveness is improved, and the filtering accuracy is improved. And the defect of low accuracy caused by the adoption of foreground and background segmentation in related technologies is avoided, the accuracy and reliability of filtering are improved, and the technical effects of filtering robustness are improved.
Description
technical field [0001] The disclosure relates to the field of artificial intelligence, in particular to computer vision, 3D vision and deep learning technology, which can be used in smart city and intelligent transportation scenes, in particular to a point cloud processing method, device and vehicle. Background technology [0002] Auto drive system refers to a system that can automatically and safely operate vehicles without any human active operation by relying on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning system. [0003] Among them, radar can obtain point cloud, and auto drive system can detect obstacles and other target objects based on point cloud. In order to improve the safety and reliability of vehicle driving, it is usually necessary to filter the point cloud. In the prior art, the commonly used filtering method is to determine the outliers in the point cloud and remove the outliers from the point cloud....
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Login to View More IPC IPC(8): G06V20/58G06V40/10G06V10/30G06V10/764G06K9/62G06V20/70
CPCG06F18/24
Inventor 鞠波叶晓青谭啸孙昊
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD