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

A point cloud and labeling frame technology, applied in the field of computer vision, can solve the problems of high time cost and low efficiency, and achieve the effect of reducing labeling time, improving labeling efficiency, and ensuring labeling accuracy.

Pending Publication Date: 2021-11-23
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Claims
  • Application Information

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Problems solved by technology

Therefore, the time cost of completing an object to be marked is relatively high, and the efficiency is relatively low

Method used

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  • Point cloud labeling method and device, storage medium and electronic equipment
  • Point cloud labeling method and device, storage medium and electronic equipment
  • Point cloud labeling method and device, storage medium and electronic equipment

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Embodiment Construction

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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 point cloud labeling method and device, a storage medium and electronic equipment. The method comprises the steps: determining a first labeling box containing point cloud data of a to-be-labeled object in a labeling main scene picture; respectively mapping the center coordinates in the first annotation box into an annotation view, and generating a second annotation box corresponding to the annotation view and associated with the first annotation box; in the second labeling box, adjusting the size of the second labeling box in a preset adjustment direction based on the point cloud data in the second labeling box; mapping the adjusted coordinate data of the second annotation box into the first annotation box to obtain a third annotation box; and adjusting the size of the third labeling box to obtain a fourth labeling box containing all the point cloud data of the to-be-labeled object. According to the embodiment of the invention, in the labeling process, the precision can be determined without repeatedly adjusting the labeling view angle, the labeling time is shortened, the labeling efficiency is improved, and the labeling precision is guaranteed.

Description

technical field [0001] The present disclosure relates to computer vision technology, in particular to a point cloud labeling method, device, storage medium and electronic equipment. Background technique [0002] Point cloud data is generated by 3D scanning equipment (such as lidar (2D / 3D), stereo camera (stereocamera), time-of-flight camera (time-of-flight camera)), and is composed of a set of vectors in the three-dimensional coordinate system Set to represent, mainly used to represent the outer surface shape of an object. In addition to the geometric position information represented by (X, Y, Z), point cloud data can also represent the RGB color, gray value, depth, segmentation results, etc. of a point. [0003] In the autonomous driving environment perception, when labeling the point cloud data collected by radar, because it is three-dimensional data labeling, when looking for objects to be labeled, the spatial perspective must be constantly moved. When labeling, it may ...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/80G06T7/70G06T2207/10028
Inventor 张捷
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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