2 results about "Perspective transformation" patented technology

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.