Method and device for generating scene graph of visual traffic scene

Abstract

The invention provides a scene graph generation method and device for a visual traffic scene, and the method comprises the steps: carrying out the semantic segmentation of a target traffic scene image, obtaining a semantic object in the target traffic scene image, and obtaining the scene representation of the target traffic scene image according to the semantic object; constructing a directed graph of the target traffic scene image by taking the target traffic scene image, a foreground object and a background object in the semantic object and the scene representation as nodes and taking a relationship between the nodes as edges; and positioning visual areas in the target traffic scene image according to the directed graph, and marking a relationship between semantic objects in each visual area according to the directed graph to obtain a scene graph corresponding to the target traffic scene image. The scene graph generated by the invention is convenient for higher-level scene understanding, and the accuracy and safety of automatic driving are improved.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, in particular to a method and device for generating a scene graph of a visual traffic scene. Background technique [0002] Visual perception of traffic scenes is one of the core technologies of autonomous driving. The visual perception system mainly uses the camera as the sensor input, and after a series of calculations and processing, it can accurately perceive the environmental information around the vehicle. [0003] At present, the perception function of road traffic mainly includes three aspects: dynamic object detection (vehicles, pedestrians and non-motorized vehicles), static object recognition (traffic signs and traffic lights) and segmentation of drivable areas (road areas and lane lines). Generate a scene graph representation from perceived objects in road traffic. Existing scene graph representations are only a collection of objects, object attributes, and image att...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a method and device for generating a scene graph of a visual traffic scene, which is used to solve the defect that the information represented by the scene graph is less in the prior art, and realize enriching the information represented by the scene graph

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