The invention provides an efficient marking method combining laser point cloud and an image. The method comprises: performing initial external parameter automatic calibration through the planar checkerboard target image data and the laser point cloud data; pre-annotation is realized through an automatic segmentation algorithm; image annotation information is further refined in combination with a small amount of manual intervention and calibration; the method comprises the following steps: determining a three-dimensional laser point cloud corresponding to an image marking object in a back projection mode, then obtaining an accurate three-dimensional point cloud of a to-be-marked target in a re-segmentation clustering and growth mode, and finally performing external parameter further optimization through the accurately matched three-dimensional point cloud and the image marking object. According to the efficient marking method combining the laser point cloud and the image, a large amountof manual intervention is not needed, the difficulty of laser point cloud marking is reduced, the marking efficiency is improved, and meanwhile the high marking precision is achieved. Not only can the point-by-point category information of the laser point cloud be obtained, but also novel labeling data such as image and laser point cloud object level joint labeling information can be obtained.

Efficient marking method combining laser point cloud and images

The invention relates to a point cloud labeling method and device, computer equipment and a storage medium. The point cloud labeling method comprises the steps of obtaining a projection instruction carrying a labeling track; judging the position of the marked track; if the labeling track is on the point cloud picture, projecting the point cloud point corresponding to the labeling track to the shotpicture, and determining object labeling information corresponding to the point cloud point; and if the labeling track is on the shot picture, projecting points on the labeling track to a point cloudpicture, and determining object labeling information corresponding to the points on the labeling track. The point cloud labeling method provided by the invention can improve the recognition degree ofthe computer equipment on the object.

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

The invention relates to an image shooting method and device, electronic equipment, a server, a system and a storage medium. The method comprises the steps: obtaining an object attribute of a target object included in a target image currently shot by a user; obtaining a target document corresponding to the target image according to the obtained external scene information and object attributes; displaying the target copywriting for the user to select and add to the target image, wherein the user does not need to add the copywriting to the image through tedious manual input and other operationsafter image shooting, and the image shooting experience of the user is improved.

Image shooting method and device, electronic equipment, server, system and storage medium

The invention discloses a target object labeling method and device. The target object labeling method comprises the steps: acquiring point cloud data and image data containing a target object, whereinthe point cloud data and the image data have a corresponding relation; acquiring image annotation information of the target object; segmenting the point cloud data to obtain a point cloud subset containing the target object; and establishing a point mapping relationship between the point cloud data and the image data, and obtaining point cloud annotation information in the point cloud subset according to the point mapping relationship and the image annotation information. Beneficial effects are that: the target object labeling method is suitable for, relatively accurate point cloud labeling information is automatically obtained by utilizing a mapping relationship between the image data and the point cloud data; the problem that a target object with an unobvious 3D contour is not easy to label in a traditional method is solved; and the target object labeling method can be applied to the field of automatic driving to achieve accurate labeling of road markings, broadens the application scene of target object labeling, saves the labor cost, and improves the labeling accuracy and generalization ability.

Target object labeling method and device

The invention discloses a labeling method and device. A target object for labeling is a static object, and the method comprises the steps: obtaining multi-frame point cloud data; generating a three-dimensional point cloud map from the multiple frames of point cloud data according to the pose relationship among the multiple frames of point cloud data, and recording the pose relationship between themultiple frames of point cloud data and the coordinate system where the three-dimensional point cloud map is located; labeling a point corresponding to the target object in a three-dimensional pointcloud map; and determining a corresponding label of the target object in each frame of point cloud data in the multi-frame point cloud data according to the label marked in the three-dimensional pointcloud map and the pose relationship between the multi-frame point cloud data and the coordinate system where the three-dimensional point cloud map is located. According to the method, the efficiencyof labeling the static target object can be improved.

Labeling method and device

The embodiments of the invention provide a method and an apparatus for annotating an image, a device and a computer readable storage medium The method for annotating the image includes the step of determining, in a point cloud describing three-dimensional information of a scene, a point set associated with an object in the scene; the method further includes the step of acquiring an annotation foran attribute of the object; the method further includes the step of determining a portion corresponding to the point set in a to-be-annotated image of the scene; and the method further includes the step of applying the annotation to the portion to generate an annotated image In this way, the annotation efficiency of the image can be improved, and thus the annotated image is acquired on a large scale

Method and apparatus for annotating image, device and computer readable storage medium

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Method and apparatus for annotating image, device and computer readable storage medium