The invention relates to an aerial view semantic segmentation
label generation method based on inverse
perspective transformation and
point cloud projection, and the method comprises the steps: data collection:
synchronizing camera and
laser radar data at the same moment through a
synchronization signal, and enabling the time stamp difference of all camera and
laser radar sensor data at each moment
not to exceed a set value;
data labeling: performing joint labeling on m images and n
point cloud data at the same moment, marking a static area of the
road surface on the images, and marking a dynamic object 3D bounding box on the
point cloud; the method comprises the following steps: generating a
road surface region of a BEV
label through inverse
perspective transformation, perspective-perspective-based on the inverse
perspective transformation of affine geometry, perspective-perspective the semantic segmentation
label of the
road surface at each camera
visual angle to a BEV canvas, splicing the semantic segmentation labels, and carrying out refined
processing on a spliced picture. According to the method, the accurate aerial view semantic segmentation label is directly generated from the original image and the point cloud which are synchronized at a certain moment, so that the aerial view is prevented from being acquired and labeled in a way of
aerial photography of a road surface by an unmanned aerial vehicle, and the cost is reduced.