US 11,756,317 B2
Methods and systems for labeling lidar point cloud data
Wei-Liang Lai, Pittsburgh, PA (US); Henry Randall Burke-Sweet, Pittsburgh, PA (US); and William Tyler Krampe, Sewickley, PA (US)
Assigned to ARGO AI, LLC, Pittsburgh, PA (US)
Filed by Argo AI, LLC, Pittsburgh, PA (US)
Filed on Sep. 24, 2020, as Appl. No. 17/30,669.
Prior Publication US 2022/0092291 A1, Mar. 24, 2022
Int. Cl. G06V 20/00 (2022.01); G06V 20/64 (2022.01); G01S 17/42 (2006.01); G06T 7/11 (2017.01); G06T 11/20 (2006.01); G06V 10/25 (2022.01)
CPC G06V 20/647 (2022.01) [G01S 17/42 (2013.01); G06T 7/11 (2017.01); G06T 11/203 (2013.01); G06V 10/25 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2210/12 (2013.01)] 34 Claims
OG exemplary drawing
1. A method for processing point cloud data, the method comprising:
receiving a 3D image comprising point cloud data;
displaying, on a user interface, a 2D image associated with the 3D image;
generating a 2D bounding box that envelops an object of interest in the 2D image;
generating an image frame for identification of one or more points in the point cloud data as being associated with the object of interest based on a user's interaction with the image frame, the generating comprising:
generating, by projecting a plurality of points in the 3D image on the 2D image in a first direction, a first projected image frame comprising a first projected plurality of points;
displaying, on the user interface, the image frame that comprises the 2D image and the 2D bounding box superimposed by the first projected image frame;
receiving a first user input comprising a selection of a set of points in the first projected plurality of points that correspond to the object of interest;
identifying a label for the object of interest; and
storing, in a data store, the set of points that correspond to the object of interest in association with the label.