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Method and device for segmenting point cloud data, storage medium and electronic equipment

A technology of point cloud data and cloud data, applied in the field of image processing, can solve problems such as loss of flexibility, and achieve the effect of assisting driving decision-making

Active Publication Date: 2020-01-17
NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the segmentation methods in the prior art lose their flexibility because they are too dependent on known objects

Method used

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  • Method and device for segmenting point cloud data, storage medium and electronic equipment
  • Method and device for segmenting point cloud data, storage medium and electronic equipment
  • Method and device for segmenting point cloud data, storage medium and electronic equipment

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Embodiment Construction

[0018] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.

[0019] It should be noted that relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0020] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc. necessary logical sequence.

[0021] It should also be understood that in the embodiments of the present disclosure, "...

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Abstract

The embodiment of the invention discloses a method and device for segmenting point cloud data, a storage medium and electronic equipment. The method comprises the steps of determining a local area where each point cloud data point in a to-be-processed point cloud data set is located, and dividing the local area into a predetermined number of sub-areas; sorting the point cloud data points in each subarea to obtain a predetermined number of point cloud data sets in the same order; determining a dependency relationship between each point cloud data point in each same-order point cloud data set and the corresponding adjacent point cloud data point, thereby obtaining a predetermined number of dependency relationship sets; determining a probability value of each point cloud data point belongingto the prediction category based on a predetermined number of dependency sets; and segmenting the to-be-processed point cloud data set according to the probability value of each point cloud data pointbelonging to the prediction category. The embodiment of the invention can be applied to object identification of an outdoor environment in an unmanned scene so as to better assist in driving decision, and is also applied to identification of indoor objects with more complex scenes.

Description

technical field [0001] The present disclosure relates to image processing technology, and in particular to a method and device for segmenting point cloud data, a storage medium and electronic equipment. Background technique [0002] Scene segmentation or image segmentation is an important technique in machine vision. For technologies such as autonomous driving or home robotics, good segmentation algorithms are the basis for complex functions. The segmentation method includes the following ideas: from bottom to top, first cluster the image into small pixel groups and then slowly merge; A combination of low-up and top-down approaches. However, state-of-the-art segmentation methods lose flexibility because they depend too much on known objects. Contents of the invention [0003] In order to solve the above-mentioned technical problems, the present disclosure is proposed. Embodiments of the present disclosure provide a method and device for segmenting point cloud data, a s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/11G06T7/143
CPCG06T7/11G06T7/143G06T2207/10028
Inventor 王浩
Owner NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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