Point cloud augmentation method and apparatus, computer-readable storage medium, and terminal device
By using projection and inverse mapping techniques to select adjacent pixels in lidar point cloud data and combine them with image information, the problem of sparse point clouds is solved, and the richness of point clouds and target detection performance are improved.
CN115601275BActive Publication Date: 2026-05-26BEIJING SPREADTRUM HI TECH COMM TECH CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING SPREADTRUM HI TECH COMM TECH CO LTD
- Filing Date
- 2022-09-07
- Publication Date
- 2026-05-26
Smart Images
Figure CN115601275B_ABST
Abstract
The application provides a point cloud augmentation method and device, a computer readable storage medium and a terminal device. The point cloud augmentation method comprises: obtaining original point cloud data and at least one image, the original point cloud data and the at least one image being collected for the same target; projecting each original point cloud in the original point cloud data into the at least one image to obtain a plurality of projection points in the at least one image, each projection point corresponding to an original point cloud; selecting at least one adjacent pixel as an extended pixel in a vertical direction of each projection point according to a preset interval; and at least mapping each extended pixel to a three-dimensional space to obtain an augmented point cloud. The application can improve the number of point clouds and the effectiveness of the augmented point cloud.
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