Bounding Box Performance Evaluation Method, Device, Electronic Device, and Storage Medium

Abstract

The present disclosure provides a method, apparatus, electronic device, and storage medium for evaluating the performance of a bounding box, relating to the field of artificial intelligence technologies, and particularly to the fields of high-precision maps, computer vision, deep learning, big data, intelligent transportation, autonomous driving, autonomous parking, cloud services, vehicle networking, and intelligent cockpits. The specific implementation solution is as follows: in response to detecting a performance evaluation request for a target bounding box, create an inner bounding box and an outer bounding box corresponding to the target bounding box; determine a first point cloud number, a second point cloud number, and a third point cloud number, where the first point cloud number is the number of point clouds included in the target bounding box, the second point cloud number is the number of point clouds included in the inner bounding box, and the third point cloud number is the number of point clouds included in the outer bounding box; determine the performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technologies, and in particular to the fields of high-precision maps, computer vision, deep learning, big data, intelligent transportation, autonomous driving, autonomous parking, cloud services, vehicle networking, and intelligent cockpits. Specifically, it relates to a method, apparatus, electronic device, and storage medium for evaluating the performance of bounding boxes. Background Art

[0002] A bounding box is a method of approximately replacing a complex target object by using a geometric body with simple characteristics and a slightly larger volume. Bounding boxes play an important role in fields such as high-precision map making, collision detection of obstacles, and control planning of target objects. Summary of the Invention

[0003] The present disclosure provides a method, apparatus, electronic device, and storage medium for evaluating the performance of bounding boxes.

[0004] According to one aspect of the present disclosure, there is provided a method for evaluating the performance of a bounding box, including: in response to detecting a performance evaluation request for a target bounding box, creating an inner bounding box and an outer bounding box corresponding to the target bounding box; determining a first point cloud number, a second point cloud number, and a third point cloud number, where the first point cloud number is the number of point clouds included in the target bounding box, the second point cloud number is the number of point clouds included in the inner bounding box, and the third point cloud number is the number of point clouds included in the outer bounding box; and determining a performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number.

[0005] According to another aspect of the present disclosure, there is provided a device for evaluating the performance of a bounding box, including: in response to detecting a performance evaluation request for a target bounding box, creating an inner bounding box and an outer bounding box corresponding to the target bounding box; determining a first point cloud number, a second point cloud number, and a third point cloud number, where the first point cloud number is the number of point clouds included in the target bounding box, the second point cloud number is the number of point clouds included in the inner bounding box, and the third point cloud number is the number of point clouds included in the outer bounding box; and determining a performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number.

[0006] According to another aspect of the present disclosure, there is provided an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method as described in the present disclosure.

[0007] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method as described in the present disclosure.

[0008] According to another aspect of the present disclosure, there is provided a computer program product including a computer program, and the computer program implements the method as described in the present disclosure when executed by a processor.

[0009] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understandable through the following description. Description of the Drawings

[0010] The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0011] Figure 1 Schematically shows an exemplary system architecture to which the bounding box performance evaluation method and apparatus according to an embodiment of the present disclosure can be applied;

[0012] Figure 2 Schematically shows a flowchart of the bounding box performance evaluation method according to an embodiment of the present disclosure;

[0013] Figure 3 Schematically shows a flowchart of creating an inner bounding box and an outer bounding box corresponding to a target bounding box according to an embodiment of the present disclosure;

[0014] Figure 4 Schematically shows a flowchart of determining the performance evaluation result of a target bounding box according to an embodiment of the present disclosure;

[0015] Figure 5 Schematically shows an example diagram of the bounding box performance evaluation method according to an embodiment of the present disclosure;

[0016] Figure 6 Schematically shows a block diagram of the bounding box performance evaluation apparatus according to an embodiment of the present disclosure; and

[0017] Figure 7 Schematically shows a block diagram of an electronic device suitable for implementing the bounding box performance evaluation method according to an embodiment of the present disclosure. Detailed Embodiments

[0018] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill 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, descriptions of well-known functions and structures are omitted in the following description for clarity and conciseness.

[0019] The bounding box can include different forms of solid geometry, and this solid geometry can be used to represent geometric objects. The bounding box can include one of the following: Axis-aligned Bounding Box (AABB), Sphere, Oriented Bounding Box (OBB), and Fixed Directions Hulls (FDH).

[0020] To ensure the safety of the target object, it is necessary to accurately determine the target bounding box that can completely enclose the point cloud of the target object, so as to perform obstacle avoidance and control planning for the target object based on this target bounding box.

[0021] However, due to the influence of the density and effect of the point cloud, it is difficult for the user to determine the number of point clouds included in the target bounding box and the number of point clouds around the target bounding box. Therefore, the performance of the target bounding box is difficult to guarantee.

[0022] For this reason, the embodiments of the present disclosure propose a bounding box performance evaluation scheme. By responding to the detection of a performance evaluation request for the target bounding box, an inner bounding box and an outer bounding box corresponding to the target bounding box are created, and then the number of point clouds of the target bounding box, the inner bounding box, and the outer bounding box are respectively determined. Then, the performance evaluation result of the target bounding box is determined based on the above-mentioned numbers of point clouds. The above process uses the inner bounding box and the outer bounding box determined based on the target bounding box and considers the number of point clouds of each of the three bounding boxes. Therefore, while ensuring the performance of the target bounding box, the performance evaluation result of the target bounding box can be automatically determined, and the accuracy of this performance evaluation result can be improved.

[0023] In the technical solution of the present disclosure, the processing of collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0024] In the technical solution of the present disclosure, the authorization or consent of the user is obtained before obtaining or collecting the user's personal information.

[0025] Figure 1Schematically illustrated is an exemplary system architecture to which the bounding box performance evaluation method and apparatus according to embodiments of the present disclosure can be applied.

[0026] It should be noted that Figure 1 The illustration is only an example of the system architecture to which embodiments of the present disclosure can be applied, to help those skilled in the art understand the technical content of the present disclosure, but it does not mean that embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios. For example, in another embodiment, the exemplary system architecture to which the bounding box performance evaluation method and apparatus can be applied may include terminal devices, but the terminal devices may implement the bounding box performance evaluation method and apparatus provided by embodiments of the present disclosure without interacting with the server.

[0027] As Figure 1 As shown, the system architecture 100 according to this embodiment may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used as a medium to provide a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0028] The terminal devices 101, 102, 103 may be various electronic devices with a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers, etc.

[0029] Users may use the terminal devices 101, 102, 103 to interact with the server 105 through the network 104 to receive or send messages, etc. Various communication client applications may be installed on the terminal devices 101, 102, 103, such as knowledge reading applications, web browser applications, search applications, instant messaging tools, email clients, and / or social platform software, etc. (only as examples).

[0030] The terminal devices 101, 102, 103 may also be various intelligent driving devices supporting positioning and navigation functions, including but not limited to smart cars, smart school buses, smart trucks, etc.

[0031] The terminal devices 101, 102, 103 may interact with the server 104 to receive or send positioning information, etc. Various client applications that can provide positioning and navigation functions may be installed on the intelligent driving devices 101, 102, 103, such as map applications, navigation applications, etc. (only as examples).

[0032] Server 105 can be various types of servers that provide various services. For example, server 105 can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, solving the defects of high management difficulty and weak business scalability existing in traditional physical hosts and VPS services (Virtual Private Server). Server 105 can also be a server of a distributed system, or a server combined with a blockchain.

[0033] Alternatively, the bounding box performance evaluation method provided by the embodiments of the present disclosure can generally be executed by the terminal devices 101, 102, or 103. Correspondingly, the bounding box performance evaluation device provided by the embodiments of the present disclosure can also be disposed in the terminal devices 101, 102, or 103.

[0034] Alternatively, the bounding box performance evaluation method provided by the embodiments of the present disclosure can generally also be executed by server 105. Correspondingly, the bounding box performance evaluation device provided by the embodiments of the present disclosure can generally be disposed in server 105. The bounding box performance evaluation method provided by the embodiments of the present disclosure can also be executed by a server or a server cluster different from server 105 and capable of communicating with the terminal devices 101, 102, 103 and / or server 105. Correspondingly, the bounding box performance evaluation device provided by the embodiments of the present disclosure can also be disposed in a server or a server cluster different from server 105 and capable of communicating with the terminal devices 101, 102, 103 and / or server 105.

[0035] It should be understood that Figure 1 the numbers of the terminal devices, the network, and the servers in

[0036] are merely illustrative. According to the implementation requirements, there can be any number of terminal devices, the network, and the servers.

[0037] Figure 2 Schematically shows a flowchart of the bounding box performance evaluation method according to an embodiment of the present disclosure.

[0038] As Figure 2 shown, the method 200 includes operations S210 to S230.

[0039] In operation S210, in response to detecting a performance evaluation request for a target bounding box, create an inner bounding box and an outer bounding box corresponding to the target bounding box.

[0040] In operation S220, determine the number of points in the first point cloud, the number of points in the second point cloud, and the number of points in the third point cloud. The number of points in the first point cloud is the number of points included in the target bounding box, the number of points in the second point cloud is the number of points included in the inner bounding box, and the number of points in the third point cloud is the number of points included in the outer bounding box.

[0041] In operation S230, determine the performance evaluation result of the target bounding box according to the number of points in the first point cloud, the number of points in the second point cloud, and the number of points in the third point cloud.

[0042] According to an embodiment of the present disclosure, point cloud data of a target object may be collected by a data collection device such as a lidar or a 3D laser scanner, so as to determine information of the target bounding box. The information of the target bounding box may include the coordinates of each corner point of the target bounding box on the X-axis, Y-axis, and Z-axis. The position, width, height, etc. of the target object may be characterized by the information of the target bounding box.

[0043] According to an embodiment of the present disclosure, the target object may include a vehicle, a robot, a virtual object in a game, etc.

[0044] According to an embodiment of the present disclosure, the performance evaluation request may include a request message sent by a client to a server, and the performance evaluation request may include a request method, a URL (Uniform Resource Locator), a protocol version, a request header, request data, etc.

[0045] According to an embodiment of the present disclosure, two solid geometries corresponding to the target bounding box, namely an inner bounding box and an outer bounding box, may be created based on the target bounding box.

[0046] According to an embodiment of the present disclosure, the number of points in the target bounding box, the inner bounding box, and the outer bounding box may be determined by a data collection device.

[0047] According to an embodiment of the present disclosure, the performance of the target bounding box may include the accuracy of the bounding box. The performance evaluation result may be used to characterize whether the accuracy of the target bounding box meets the requirements.

[0048] According to an embodiment of the present disclosure, by responding to a detected performance evaluation request for the target bounding box, creating an inner bounding box and an outer bounding box corresponding to the target bounding box, then respectively determining the number of points in the target bounding box, the inner bounding box, and the outer bounding box, and then determining the performance evaluation result of the target bounding box according to the above-mentioned numbers of points in each point cloud. The above process is based on the inner bounding box and the outer bounding box determined based on the target bounding box, and takes into account the numbers of points in the three bounding boxes. Therefore, while ensuring the performance of the target bounding box, the performance evaluation result of the target bounding box can be automatically determined, and the accuracy of the performance evaluation result can be improved.

[0049] The following refers toFigures 3 to 5 , the method for evaluating the performance of a bounding box provided according to an embodiment of the present disclosure will be further described in conjunction with specific embodiments.

[0050] Figure 3 Schematically shows a flowchart of creating an inner bounding box and an outer bounding box corresponding to a target bounding box according to an embodiment of the present disclosure.

[0051] As Figure 3 shown, the method 300 includes operations S311 to S314.

[0052] In operation S311, determine an extension value corresponding to at least one first corner point included in the target bounding box.

[0053] In operation S312, according to the extension value corresponding to at least one first corner point and the first position information, obtain the second position information of at least one second corner point and the third position information of at least one third corner point.

[0054] In operation S313, create an inner bounding box corresponding to the target bounding box according to the second position information of at least one second corner point.

[0055] In operation S314, create an outer bounding box corresponding to the target bounding box according to the third position information of at least one third corner point.

[0056] According to an embodiment of the present disclosure, the extension value may include the accuracy of the first corner point determined according to the client's requirements. This accuracy may correspond to the magnitude of the error and is used to characterize the proximity between the first corner point of the measured target bounding box and the corner point of the real target object.

[0057] According to an embodiment of the present disclosure, the first position information includes first coordinate values, the second position information includes second coordinate values, and the third position information includes third coordinate values.

[0058] According to an embodiment of the present disclosure, operation S312 may include the following operations.

[0059] For each first corner point among at least one first corner point, move the first corner point along a first predetermined direction by the extension value corresponding to the first corner point to obtain a second corner point corresponding to the first corner point. The second position information of the second corner point is determined according to the first position information and the extension value corresponding to the first corner point. Move the first corner point along a second predetermined direction by the extension value corresponding to the first corner point to obtain a third corner point corresponding to the first corner point. The third position information of the third corner point is determined according to the first position information and the extension value corresponding to the first corner point, and the second predetermined direction and the first predetermined direction are two opposite directions.

[0060] According to an embodiment of the present disclosure, the first position information may include the first coordinate value of the first corner point of the target bounding box, the second position information may include the second coordinate value of the second corner point of the inner bounding box, and the third position information may include the third coordinate value of the third corner point of the outer bounding box.

[0061] According to an embodiment of the present disclosure, the first predetermined direction may include, for example, the positive X-axis direction, and the second predetermined direction may include, for example, the negative X-axis direction. The first predetermined direction and the second predetermined direction may be flexibly set by those skilled in the art according to the actual application situation, and are not limited herein, as long as it can be ensured that the first predetermined direction and the second predetermined direction are opposite.

[0062] According to an embodiment of the present disclosure, based on the target bounding box, each of at least one first corner point included in the target bounding box may be moved in the first predetermined direction by an extension value corresponding to the first corner point, and according to the second position information of each obtained second corner point, a solid geometry, that is, an inner bounding box, may be formed.

[0063] According to an embodiment of the present disclosure, based on the target bounding box, each of at least one first corner point included in the target bounding box may be moved in the second predetermined direction by an extension value corresponding to the first corner point, and according to the third position information of each obtained third corner point, another solid geometry, that is, an outer bounding box, may be formed.

[0064] According to an embodiment of the present disclosure, the number of point clouds of the target object may be between the number of point clouds wrapped by the inner bounding box and the number of point clouds wrapped by the outer bounding box.

[0065] According to an embodiment of the present disclosure, by respectively creating an inner bounding box and an outer bounding box based on the first coordinate value of at least one first corner point included in the target bounding box and the corresponding extension value, the problem in the related art of difficultly determining the number of point clouds included in the target bounding box and the number of point clouds around the target bounding box can be at least partially overcome. Therefore, the accuracy of the target bounding box can be ensured.

[0066] Figure 4 Schematically shows a flowchart for determining the performance evaluation result of the target bounding box according to an embodiment of the present disclosure.

[0067] As Figure 4 shown, the method 400 includes operations S431 to S433.

[0068] In operation S431, a first ratio is determined. The first ratio is the ratio between the second number of point clouds and the first number of point clouds.

[0069] In operation S432, a second ratio is determined. The second ratio is the ratio between the first number of point clouds and the third number of point clouds.

[0070] In operation S433, based on the first ratio and the second ratio, determine the performance evaluation result of the target bounding box.

[0071] According to an embodiment of the present disclosure, the first ratio can be characterized as m%, and the first ratio can be used to represent the ratio of the number of second point clouds wrapped by the inner bounding box to the number of first point clouds wrapped by the target bounding box.

[0072] According to an embodiment of the present disclosure, when m% = 100%, the number of point clouds wrapped by the inner bounding box is the number of point clouds wrapped by the target object.

[0073] According to an embodiment of the present disclosure, the second ratio can be characterized as n%, and the second ratio can be used to represent the ratio of the number of first point clouds wrapped by the target bounding box to the number of third point clouds wrapped by the outer bounding box.

[0074] According to an embodiment of the present disclosure, based on the relationship between the first ratio and the first predetermined threshold, and the second ratio and the second predetermined threshold, determine whether the performance evaluation result of the target bounding box meets the predetermined performance condition.

[0075] According to an embodiment of the present disclosure, operation S433 may include the following operations.

[0076] When it is determined that the first ratio is greater than or equal to the first predetermined threshold and the second ratio is greater than or equal to the second predetermined threshold, determine that the performance evaluation result of the target bounding box is that the performance meets the predetermined performance condition. When it is determined that at least one of the first ratio is less than the first predetermined threshold and the second ratio is less than the second predetermined threshold, determine that the performance evaluation result of the target bounding box is that the performance does not meet the predetermined performance condition.

[0077] According to an embodiment of the present disclosure, the first predetermined threshold can be characterized as M%, and the second predetermined threshold can be characterized as N%.

[0078] According to an embodiment of the present disclosure, the first predetermined threshold and the second predetermined threshold can be flexibly set by those skilled in the art according to the actual application situation. The first predetermined threshold and the second predetermined threshold can be the same or different, and are not limited herein.

[0079] According to an embodiment of the present disclosure, the predetermined performance condition may include the accuracy requirement for the target bounding box. For example, the predetermined performance condition can be characterized as m% ≥ M% and n% ≥ N%.

[0080] According to an embodiment of the present disclosure, based on the relationship between the first ratio and the first predetermined threshold, and the second ratio and the second predetermined threshold, the performance evaluation result of the target bounding box can be automatically determined. Therefore, while ensuring the accuracy of the target bounding box, the accuracy of the performance evaluation result and the efficiency of the bounding box performance evaluation can be improved.

[0081] According to an embodiment of the present disclosure, the bounding box performance evaluation method may further include the following operations.

[0082] When it is determined that the performance evaluation result of the target bounding box meets the predetermined performance condition, set the color of the target bounding box to the first color. When it is determined that the performance evaluation result of the target bounding box does not meet the predetermined performance condition, set the color of the target bounding box to the second color.

[0083] According to an embodiment of the present disclosure, the first color and the second color can be flexibly set by those skilled in the art according to the actual application situation, and are not limited herein, as long as it can be ensured that the first color and the second color are different. For example, the first color can be set to green and the second color can be set to red.

[0084] According to an embodiment of the present disclosure, in actual applications, it is possible to determine whether the accuracy of the target bounding box meets the requirements by the color of the target bounding box.

[0085] According to an embodiment of the present disclosure, by using different colors to represent whether the performance evaluation result of the target bounding box meets the predetermined performance condition, it avoids the content that is difficult to judge manually and cannot be quantified during the bounding box performance evaluation process. Therefore, it is convenient for users to make judgments through the intuitive display of different colors, thereby improving the accuracy of the performance evaluation result.

[0086] Figure 5 Schematically shows an example diagram of the bounding box performance evaluation method according to an embodiment of the present disclosure.

[0087] As Figure 5 shown, in 500, in response to detecting a performance evaluation request for the target bounding box 510, an inner bounding box 520 and an outer bounding box 530 corresponding to the target bounding box 510 can be created.

[0088] The first coordinate value of the first corner point included in the target bounding box 510 can be characterized as A 1 (x, y, z), A 2 (x’, y, z), A 3 (x’, y’, z), A 4 (x, y’, z), A 5 (x, y, z’), A 6 (x’, y, z’), A 7 (x’, y’, z’) and A 8 (x, y’, z’), where x < x’, y < y’, z < z’. An extension value t (t > 0) corresponding to the first corner point included in the target bounding box 510 can be determined.

[0089] According to the extension value t corresponding to the first corner point and the first coordinate value, extending the first corner point inward by t coordinates into the target bounding box 510, the second coordinate value of the second corner point included in the inner bounding box 520 can be obtained, and this second coordinate value can be represented as B 1 (x + t, y + t, z + t), B 2 (x' - t, y + t, z + t), B 3 (x' - t, y' - t, z + t), B 4 (x + t, y' - t, z + t), B 5 (x + t, y + t, z' - t), B 6 (x' - t, y + t, z' - t), B 7 (x' - t, y' - t, z' - t) and B 8 (x + t, y' - t, z' - t).

[0090] According to the extension value t corresponding to the first corner point and the first coordinate value, extending the first corner point outward by t coordinates from the target bounding box 510, the third coordinate value of the third corner point included in the outer bounding box 530 can be obtained, and this third coordinate value can be represented as C 1 (x - t, y - t, z - t), C 2 (x' + t, y - t, z - t), C 3 (x' + t, y' + t, z - t), C 4 (x - t, y' + t, z - t), C 5 (x - t, y - t, z' + t), C 6 (xv + t, y - t, z' + t), C 7 (x' + t, y' + t, z' + t) and C 8 (x - t, y' + t, z' + t).

[0091] According to A 1 ~A 8 constituting the target bounding box 510, the first point cloud number can be determined. According to B 1 ~B 8 constituting the inner bounding box 520, the second point cloud number can be determined. According to C 1 ~C 8 constituting the outer bounding box 530, the third point cloud number can be determined.

[0092] According to the first point cloud number, the second point cloud number, and the third point cloud number, the performance evaluation result of the target bounding box 510 can be determined, and the color of the target bounding box 510 can be set according to this performance evaluation result, so as to determine whether the accuracy of the target bounding box 510 meets the requirements of the predetermined performance conditions according to different colors.

[0093] The above are only exemplary embodiments, but not limited thereto. Other bounding box performance evaluation methods known in the art may also be included, as long as the performance evaluation result of the target bounding box can be determined.

[0094] Figure 6 A block diagram of a bounding box performance evaluation device according to an embodiment of the present disclosure is schematically shown.

[0095] As Figure 6 shown, the bounding box performance evaluation device 600 may include a creation module 610, a first determination module 620, and a second determination module 630.

[0096] The creation module 610 is configured to create an inner bounding box and an outer bounding box corresponding to the target bounding box in response to detecting a performance evaluation request for the target bounding box.

[0097] The first determination module 620 is configured to determine a first point cloud number, a second point cloud number, and a third point cloud number. The first point cloud number is the number of point clouds included in the target bounding box, the second point cloud number is the number of point clouds included in the inner bounding box, and the third point cloud number is the number of point clouds included in the outer bounding box.

[0098] The second determination module 630 is configured to determine the performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number.

[0099] According to an embodiment of the present disclosure, the creation module 610 may include a first determination unit, an acquisition unit, a first creation unit, and a second creation unit.

[0100] The first determination unit is configured to determine an extension value corresponding to at least one first corner point included in the target bounding box.

[0101] The acquisition unit is configured to obtain the second position information of at least one second corner point and the third position information of at least one third corner point according to the extension value corresponding to at least one first corner point and the first position information.

[0102] The first creation unit is configured to create an inner bounding box corresponding to the target bounding box according to the second position information of at least one second corner point.

[0103] The second creation unit is configured to create an outer bounding box corresponding to the target bounding box according to the third position information of at least one third corner point.

[0104] According to an embodiment of the present disclosure, the first position information may include a first coordinate value, the second position information includes a second coordinate value, and the third position information includes a third coordinate value.

[0105] According to an embodiment of the present disclosure, the obtaining unit includes a first obtaining subunit and a second obtaining subunit.

[0106] The first obtaining subunit is configured to, for each first corner point among at least one first corner point, move the first corner point along a first predetermined direction by an extension value corresponding to the first corner point to obtain a second corner point corresponding to the first corner point. The second position information of the second corner point is determined according to the first position information corresponding to the first corner point and the extension value.

[0107] The second obtaining subunit is configured to, for each first corner point among at least one first corner point, move the first corner point along a second predetermined direction by an extension value corresponding to the first corner point to obtain a third corner point corresponding to the first corner point. The third position information of the third corner point is determined according to the first position information corresponding to the first corner point and the extension value, and the second predetermined direction and the first predetermined direction are two opposite directions.

[0108] According to an embodiment of the present disclosure, the second determination module may include a second determination unit, a third determination unit, and a fourth determination unit.

[0109] The second determination unit is configured to determine a first ratio. The first ratio is the ratio between the number of second point clouds and the number of first point clouds.

[0110] The third determination unit is configured to determine a second ratio. The second ratio is the ratio between the number of first point clouds and the number of third point clouds.

[0111] The fourth determination unit is configured to determine a performance evaluation result of the target bounding box according to the first ratio and the second ratio.

[0112] According to an embodiment of the present disclosure, the fourth determination unit may include a first determination subunit and a second determination subunit.

[0113] The first determination subunit is configured to determine that the performance evaluation result of the target bounding box meets the predetermined performance condition when it is determined that the first ratio is greater than or equal to a first predetermined threshold and the second ratio is greater than or equal to a second predetermined threshold.

[0114] The second determination subunit is configured to determine that the performance evaluation result of the target bounding box does not meet the predetermined performance condition when it is determined that at least one of the first ratio is less than the first predetermined threshold and the second ratio is less than the second predetermined threshold.

[0115] According to an embodiment of the present disclosure, the bounding box performance evaluation device 600 may further include a first setting module and a second setting module.

[0116] The first setting module is configured to set the color of the target bounding box to a first color when it is determined that the performance evaluation result of the target bounding box meets the predetermined performance condition.

[0117] A second setting module, configured to set the color of the target bounding box to a second color when it is determined that the performance evaluation result of the target bounding box does not meet a predetermined performance condition.

[0118] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0119] According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method as described above.

[0120] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method as described above.

[0121] According to an embodiment of the present disclosure, a computer program product includes a computer program, and the computer program implements the method as described above when executed by a processor.

[0122] Figure 7 A block diagram of an electronic device suitable for implementing a bounding box performance evaluation method according to an embodiment of the present disclosure is schematically shown. The electronic device is intended to represent various forms of digital computers, such as, for example, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0123] As Figure 7 shown, the electronic device 700 includes a computing unit 701, which can execute various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0124] Multiple components in the electronic device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disc, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the electronic device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0125] The computing unit 701 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 executes the various methods and processes described above, such as the bounding box performance evaluation method. For example, in some embodiments, the bounding box performance evaluation method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the bounding box performance evaluation method described above can be executed. Alternatively, in other embodiments, the computing unit 701 can be configured to execute the bounding box performance evaluation method by any other suitable means (e.g., by means of firmware).

[0126] The various embodiments of the systems and technologies described above in this article can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0127] The program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, a special purpose computer, or other programmable data processing device, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0128] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] In order to provide interaction with a user, the systems and techniques described herein may be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0130] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0131] A computer system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, a server of a distributed system, or a server incorporating blockchain.

[0132] It should be understood that the various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. No limitation is imposed herein.

[0133] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A method for evaluating the performance of a bounding box, comprising: responding to a detected performance evaluation request for a target bounding box, creating an inner bounding box and an outer bounding box corresponding to the target bounding box; determining a first point cloud number, a second point cloud number, and a third point cloud number, where the first point cloud number is the number of point clouds included in the target bounding box, the second point cloud number is the number of point clouds included in the inner bounding box, and the third point cloud number is the number of point clouds included in the outer bounding box; and determining a performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number; wherein, the creating of the inner bounding box and the outer bounding box corresponding to the target bounding box includes: determining an extension value corresponding to at least one first corner point included in the target bounding box, the extension value including the accuracy corresponding to the first corner point determined according to requirements; for each first corner point among the at least one first corner point included in the target bounding box, moving the first corner point along a first predetermined direction by the extension value corresponding to the first corner point to obtain a second corner point corresponding to the first corner point, and creating an inner bounding box corresponding to the target bounding box according to each second corner point; for each first corner point among the at least one first corner point included in the target bounding box, moving the first corner point along a second predetermined direction by the extension value corresponding to the first corner point to obtain a third corner point corresponding to the first corner point, and creating an outer bounding box corresponding to the target bounding box according to each third corner point, where the second predetermined direction is opposite to the first predetermined direction.

2. The method according to claim 1, wherein, the creating of the inner bounding box and the outer bounding box corresponding to the target bounding box includes: obtaining second position information of at least one second corner point and third position information of at least one third corner point according to the extension value corresponding to the at least one first corner point and first position information; creating an inner bounding box corresponding to the target bounding box according to the second position information of the at least one second corner point; and creating an outer bounding box corresponding to the target bounding box according to the third position information of the at least one third corner point.

3. The method according to claim 2, wherein, the first position information includes a first coordinate value, the second position information includes a second coordinate value, and the third position information includes a third coordinate value; wherein, the obtaining of the second position information of at least one second corner point and the third position information of at least one third corner point according to the extension value corresponding to the at least one first corner point and first position information includes: for each first corner point among the at least one first corner point, moving the first corner point along the first predetermined direction by the extension value corresponding to the first corner point to obtain a second corner point corresponding to the first corner point, where the second position information of the second corner point is determined according to the first position information corresponding to the first corner point and the extension value; and Move the first corner point along the second predetermined direction by an extension value corresponding to the first corner point to obtain a third corner point corresponding to the first corner point, wherein the third position information of the third corner point is determined according to the first position information corresponding to the first corner point and the extension value.

4. The method according to claim 1, wherein, the determining the performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number includes: determining a first ratio, wherein the first ratio is a ratio between the second point cloud number and the first point cloud number; determining a second ratio, wherein the second ratio is a ratio between the first point cloud number and the third point cloud number; and determining the performance evaluation result of the target bounding box according to the first ratio and the second ratio.

5. The method according to claim 4, wherein, the determining the performance evaluation result of the target bounding box according to the first ratio and the second ratio includes: when it is determined that the first ratio is greater than or equal to a first predetermined threshold and the second ratio is greater than or equal to a second predetermined threshold, determining that the performance evaluation result of the target bounding box is that the performance meets the predetermined performance condition; and when it is determined that at least one of the first ratio is less than the first predetermined threshold and the second ratio is less than the second predetermined threshold, determining that the performance evaluation result of the target bounding box is that the performance does not meet the predetermined performance condition.

6. The method according to any one of claims 1 to 5, further comprises: when it is determined that the performance evaluation result of the target bounding box is that the performance meets the predetermined performance condition, setting the color of the target bounding box to a first color; and when it is determined that the performance evaluation result of the target bounding box is that the performance does not meet the predetermined performance condition, setting the color of the target bounding box to a second color.

7. An apparatus for evaluating the performance of a bounding box, comprising: a creation module, configured to create an inner bounding box and an outer bounding box corresponding to the target bounding box in response to detecting a performance evaluation request for the target bounding box; a first determination module, configured to determine a first point cloud number, a second point cloud number, and a third point cloud number, wherein the first point cloud number is the number of point clouds included in the target bounding box, the second point cloud number is the number of point clouds included in the inner bounding box, and the third point cloud number is the number of point clouds included in the outer bounding box; and a second determination module, configured to determine the performance evaluation result of the target bounding box according to the first point cloud number, the second point cloud number, and the third point cloud number; wherein the creation module includes: a first determination unit, configured to determine an extension value corresponding to at least one first corner point included in the target bounding box, and the extension value includes the accuracy corresponding to the first corner point determined according to requirements; The first creation sub-module is configured to, for each of at least one first corner point included in the target bounding box, move the first corner point along a first predetermined direction by an extension value corresponding to the first corner point to obtain a second corner point corresponding to the first corner point, and create an inner bounding box corresponding to the target bounding box according to each second corner point; The second creation sub-module is configured to, for each of at least one first corner point included in the target bounding box, move the first corner point along a second predetermined direction by an extension value corresponding to the first corner point to obtain a third corner point corresponding to the first corner point, and create an outer bounding box corresponding to the target bounding box according to each third corner point, where the second predetermined direction is opposite to the first predetermined direction.

8. The apparatus according to claim 7, wherein, the creation module includes: an obtaining unit configured to obtain second position information of at least one second corner point and third position information of at least one third corner point according to the extension value corresponding to the at least one first corner point and first position information; a first creation unit configured to create an inner bounding box corresponding to the target bounding box according to the second position information of the at least one second corner point; and a second creation unit configured to create an outer bounding box corresponding to the target bounding box according to the third position information of the at least one third corner point.

9. The apparatus according to claim 8, wherein, the first position information includes first coordinate values, the second position information includes second coordinate values, and the third position information includes third coordinate values; wherein, the obtaining unit includes: for each of the at least one first corner point, a first obtaining sub-unit configured to move the first corner point along the first predetermined direction by an extension value corresponding to the first corner point to obtain a second corner point corresponding to the first corner point, where the second position information of the second corner point is determined according to the first position information and the extension value corresponding to the first corner point; and a second obtaining sub-unit configured to move the first corner point along the second predetermined direction by an extension value corresponding to the first corner point to obtain a third corner point corresponding to the first corner point, where the third position information of the third corner point is determined according to the first position information and the extension value corresponding to the first corner point.

10. The apparatus according to claim 7, wherein, the second determination module includes: a second determination unit configured to determine a first ratio, where the first ratio is the ratio between the number of the second point clouds and the number of the first point clouds; a third determination unit configured to determine a second ratio, where the second ratio is the ratio between the number of the first point clouds and the number of the third point clouds; and a fourth determination unit configured to determine a performance evaluation result of the target bounding box according to the first ratio and the second ratio.

11. The apparatus according to claim 10, wherein, the fourth determination unit includes: A first determination subunit, configured to determine that the performance evaluation result of the target bounding box meets the predetermined performance condition when it is determined that the first ratio is greater than or equal to a first predetermined threshold and the second ratio is greater than or equal to a second predetermined threshold; and A second determination subunit, configured to determine that the performance evaluation result of the target bounding box does not meet the predetermined performance condition when it is determined that at least one of the first ratio is less than the first predetermined threshold and the second ratio is less than the second predetermined threshold.

12. The apparatus according to any one of claims 7 to 11, further comprises: A first setting module, configured to set the color of the target bounding box to a first color when it is determined that the performance evaluation result of the target bounding box meets the predetermined performance condition; and A second setting module, configured to set the color of the target bounding box to a second color when it is determined that the performance evaluation result of the target bounding box does not meet the predetermined performance condition.

13. An electronic device, comprises: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1 to 6.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 6.

15. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 6.

Images