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Method and apparatus for enhancing point cloud data

A technology of point cloud data and cloud data, applied in the computer field, can solve the problems of unrealistic conventional use and high price of 64-line radar, and achieve the effect of overcoming the high price.

Pending Publication Date: 2021-10-12
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the price of 64-line radar or 128-line radar is very expensive, which is not realistic for routine use

Method used

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  • Method and apparatus for enhancing point cloud data
  • Method and apparatus for enhancing point cloud data
  • Method and apparatus for enhancing point cloud data

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Embodiment Construction

[0030] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0031] The point cloud data of low-line radar such as 16-line radar is sparse. In order to enhance the density of point cloud data and thus improve the performance of lidar, the method and device in this embodiment are adopted, which can realize the enhancement of point cloud data at low cost. Obtain the point cloud data effect of high-line radar such as 128-line radar.

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Abstract

The invention discloses a method and device for enhancing point cloud data, and relates to the technical field of computers. A specific embodiment of the method comprises the following steps of acquiring the low-line radar data and the camera data output by a low-line radarand an RGB camera capable of forming 360-degree RGB images which are located on a same product; and obtaining a low-line radar matrix and a camera matrix based on the obtained low-line radar data and the camera data, and calculating an output matrix by taking a splicing matrix obtained by splicing the low-line radar matrix and the camera matrix as input and combining a pre-trained semantic segmentation algorithm, and outputting the pseudo altitude radar point cloud data with the enhanced point cloud data, wherein the pseudo altitude radar point cloud data is equivalent to the point cloud data of an altitude radar of which the line number is higher than that of the low-line radar. According to the embodiment, the point cloud data of the low-line radar can be enhanced to be matched with the point cloud data of the high-line radar, and the balance between the price and the performance is realized.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and device for enhancing point cloud data. Background technique [0002] In recent years, with the increasing demand for the development of science and technology, autonomous driving technology has developed rapidly. In order to realize automatic driving, it is necessary to install sensors on the vehicle that can sense the surrounding environment and realize automatic driving. As such a sensor for sensing the surrounding environment of a vehicle, since lidar has the advantages of high precision, long detection distance, accurate acquisition of three-dimensional information of objects, and high stability, lidar has been widely used. [0003] Lidar can obtain a real-time 3D point cloud data in great detail, including the 3D coordinates, distance, azimuth, intensity of reflected laser, laser code, time, etc. of the target. Commonly used are single-line radar, 4-line rada...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/06G01S17/931G01S7/481G06T5/00G06T7/11G06T7/80
CPCG01S17/06G01S7/4817G06T7/11G06T7/80G06T2207/10024G06T2207/10028G06T2207/10044G06T2207/20081G06T5/00
Inventor 徐卓然刘浩
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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