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Method and device used for point cloud data repair

A point cloud data, cloud data technology, applied in image data processing, neural learning methods, character and pattern recognition, etc., can solve problems such as sparse, unfavorable target object extraction and segmentation, point cloud data holes, etc.

Active Publication Date: 2018-06-22
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, due to the occlusion or long distance in the acquisition, the point cloud data will appear empty or too sparse, which is not conducive to the extraction and segmentation of target objects

Method used

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  • Method and device used for point cloud data repair
  • Method and device used for point cloud data repair
  • Method and device used for point cloud data repair

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Embodiment Construction

[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

[0024] In the description of the embodiments of the present disclosure, the term "comprising" and its similar expressions should be interpreted as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be read as "at least one ...

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Abstract

The application relates to a method and a device used for point cloud data repair. A method of generating a point cloud data repair model includes: obtaining at least one 2D image associated with a first point cloud data frame; dividing the first point cloud data frame into at least one point cloud data set according to attributes of objects in the 2D image; and for each point cloud data set, determining a matching image with the first point cloud data frame in the 2D image, determining 3D position data of pixel points in the matching image according to the first point cloud data frame and atleast one second point cloud data frame associated therewith, using 2D position and 3D position data of the corresponding pixel points in the matching image as training input and output data of training the model, and generating the point cloud data repair model which is used for the objects corresponding to the point cloud data set, through a deep learning network, wherein the matching image matches the first point cloud data frame on a data collection position and / or time. By utilizing the built model, repair of point cloud data can be realized, and thus accuracy and universality can be improved.

Description

technical field [0001] Embodiments of the present disclosure relate to the field of point cloud data processing, and more particularly to methods and devices for point cloud data restoration. Background technique [0002] Point cloud data (Point Cloud) is widely used in three-dimensional (3D) reconstruction applications in various industries. Point cloud data is a collection of point data in a 3D coordinate system describing a 3D scene. Generally, point data in point cloud data represent the outer surface of an object. According to the principle of laser measurement or photogrammetry, the spatial coordinates of each sampling point on the surface of the object can be collected to obtain a collection of point data, which is called "point cloud data". [0003] However, due to the occlusion or long distance in the acquisition, the point cloud data will appear hollow or too sparse, which is not conducive to the extraction and segmentation of the target object. Therefore, the r...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06V10/764
CPCG06T2207/10028G06T5/77G06V20/647G06V10/454G06V10/764G06F18/2413G06T2207/20081G06T5/00G06V30/274G06F18/214G06F18/2163G06T7/50G06T7/70G06N20/00G06N3/08G06T2207/20084
Inventor 闫淼湛逸飞周旺段雄朗咸朋马常杰
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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