US 12,223,745 B1
Pavement element annotation method for point cloud data with fusion of height, device for constructing and pre-annotation point cloud data with fusion of height, electronic device and computer-readable storage medium
Qunshu Lin, Zhejiang (CN); Minghao Liu, Zhejiang (CN); Shigang Qi, Zhejiang (CN); Xinjun Wu, Zhejiang (CN); Yi Yang, Zhejiang (CN); Chao Zhang, Zhejiang (CN); Zijian Zhao, Zhejiang (CN); and Qijun Shao, Zhejiang (CN)
Filed by Molar Intelligence (Hangzhou) CO., LTD., Zhejiang (CN)
Filed on May 2, 2024, as Appl. No. 18/653,908.
Int. Cl. G06V 20/56 (2022.01); G06T 7/20 (2017.01); G06T 17/00 (2006.01); G06V 10/44 (2022.01); G06V 10/771 (2022.01); G06V 20/70 (2022.01)
CPC G06V 20/588 (2022.01) [G06T 7/20 (2013.01); G06T 17/00 (2013.01); G06V 10/44 (2022.01); G06V 10/771 (2022.01); G06V 20/70 (2022.01); G06T 2207/30241 (2013.01); G06V 2201/07 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A pavement element annotation method for point cloud data with fusion of height, comprising the following steps:
constructing all single-frame point clouds into a joint point cloud in a global coordinate system based on a pose of each frame of single-frame point cloud;
removing dynamic objects in the joint point cloud to obtain a static joint point cloud containing a plurality of points, each point having a respective set of coordinates which indicates a position of the point relative to an origin;
transforming the static joint point cloud into a matrix based on the respective coordinates of the plurality of points, wherein the matrix has a width and a length, and saving the matrix as an image, thereby providing an overhead image;
pre-annotating pavement elements in the overhead image by using a pavement element pre-annotation model;
modifying a pre-annotated result to obtain an overhead image annotation;
establishing a transformational relation between pixels of the overhead image and points of the static joint point cloud based on a ball query algorithm and a ground point algorithm; and
transforming the overhead image annotation into a static joint point cloud annotation based on the transformational relation.