Point cloud data labeling method and device, electronic equipment and medium

Abstract

The invention discloses a point cloud data labeling method and device, electronic equipment and a medium. The method comprises the following steps: acquiring multi-modal sensor data and positioning information; the multi-modal sensor data at least comprises continuous multi-frame point cloud data and at least one frame of image data; processing the multi-frame point cloud data based on pose information and time information contained in the positioning information to obtain scene point cloud data; extracting the scene point cloud data to obtain local features and global features; performing image segmentation on the image data to obtain image semantic features; based on the pose information, fusing the local features, the global features and the image semantic features to generate target feature representation; and the target feature representation is processed by using the intelligent labeling engine to obtain the point cloud labeling data, and through the technical scheme of the application, an integrated data labeling method is formed, so that the efficiency and precision of data labeling in the fields of automatic driving and the like are significantly improved, and the practicability and generalization ability of the system are enhanced.

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