Millimeter wave radar data labeling method based on RGB-D camera

Abstract

The invention discloses a millimeter-wave radar data labeling method based on an RGB-D camera. The method comprises the steps that the RGB-D camera and a millimeter-wave radar are used for collecting data at the same time; through conversion between a pixel coordinate system and a camera coordinate system, obtaining a point cloud data set of a corresponding object in the image under the camera coordinate system; according to the point cloud data set, marking a target for a color image collected by the RGB-D camera to obtain a point cloud data coordinate set under an RGB-D camera coordinate system; converting the point cloud data coordinate set under the RGB-D camera coordinate system into a point cloud data coordinate set under the millimeter wave radar coordinate system; and searching a corresponding point cloud data set according to the point cloud data coordinate set under the millimeter wave radar coordinate system, and completing labeling. According to the invention, marking is carried out through the RGB-D color image, and the type or category of the object can be identified; the marking mode is simple, and only a point corresponding to a target in the millimeter wave radar and the RGB-D camera needs to be found; the information in the image is rich, and more information can be given to the point cloud data of the millimeter wave radar.

Description

technical field [0001] The invention relates to the field of image target labeling, in particular to an RGB-D camera-based millimeter-wave radar data labeling method. Background technique [0002] At present, there are not many labeling methods for millimeter-wave radar target point cloud data. Some solutions are to obtain the target by preprocessing the point cloud data of the millimeter-wave radar, that is, to remove the noise of the point cloud data, and then use some clustering methods. Cluster the point cloud data of the millimeter wave radar to obtain the targets in the radar point cloud data, so as to label the data, but this scheme cannot identify the specific target object only through the clustered point cloud; other schemes It is to analyze the Doppler spectrogram of the millimeter wave radar to obtain the relevant information of the target in the data, and convert the target information in the Doppler data into the corresponding point cloud data, but this method ...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to overcome the problem in the prior art that the target is not marked directly through point cloud data, and the implementation process is complex and cumbersome, and provides a method for marking millimeter-wave radar data based on RGB-D cameras

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