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
US12223745B1 · kind B1 · utility
Inventors
Key dates
| Filing date | May 2, 2024 |
| Grant date | Feb 11, 2025 |
| Priority date | — |
| Expiry date | May 2, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/07
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present invention discloses a pavement element annotation method for point cloud data with fusion of height, which comprises the following steps: constructing all single-frame point clouds into a joint point cloud in a global coordinate system based on the pose of each frame of single-frame point cloud; removing dynamic objects in the joint point cloud to obtain a static joint point cloud; transforming the static joint point cloud into an overhead image; pre-annotating the pavement elements in an overhead image by using the pavement element pre-annotation model; modifying the pre-annotated result to obtain an overhead image annotation; based on a ball query algorithm and a ground point algorithm, establishing a transformational relation between the pixels of the overhead image and the points of the static joint point cloud; transforming the overhead image annotation into a static joint point cloud annotation based on the transformational relation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.