Obstacle marking method and device based on 3D and electronic equipment

• Main Authors: PENG WEI, TANG JIA, ZHAO TIANKUN, LIU YANG, FANG XINJIA
• Format: Patent
• Language: Chinese; English
• Published: 24.11.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention relates to an obstacle marking method and device based on 3D and electronic equipment. The method comprises the steps that S1, laser radar point cloud data, RTK positioning data and camera pictures which are synchronized in time and space are acquired; s2, constructing a local point cloud map according to the laser radar point cloud data and the RTK positioning data; s3, acquiring 3D point cloud frames of dynamic and static obstacles based on the local point cloud map, and acquiring image tags and 2D point cloud frames of the obstacles according to the camera pictures; and S4, according to the 3D point cloud frame, the image label and the obstacle 2D point cloud frame, endowing the 3D point cloud frame with the corresponding image label by using a preset algorithm. According to the technical scheme, the image label is obtained by using the image target detection algorithm, the 3D point cloud frame is projected to the 2D image based on the internal and external parameters of the radar and the cam