Point cloud data annotation method, device, equipment and storage medium

Abstract

The present application provides a point cloud data annotation method, device, equipment and storage medium, which relates to the field of point cloud data processing technology. The method includes: obtaining point cloud data to be annotated; using a pre-trained target recognition model to segment and annotate plain scene data to obtain point cloud data with annotation information; performing ground fitting on the point cloud data with annotation information to obtain target plain scene data after removing the ground point cloud data; according to the crop point cloud data in the target plain scene data, the obstacle point cloud data with annotation information, and the complex scene data, the target three-dimensional scene data is obtained by fusing. Compared with the prior art, it avoids the problem that the traditional segmentation algorithm has poor segmentation and annotation effect on complex terrain data, resulting in inaccurate obstacle annotation results.

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