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首页> 外国专利> USING LIGHT DETECTION AND RANGING (LIDAR) TO TRAIN CAMERA AND IMAGING RADAR DEEP LEARNING NETWORKS

USING LIGHT DETECTION AND RANGING (LIDAR) TO TRAIN CAMERA AND IMAGING RADAR DEEP LEARNING NETWORKS

机译：使用光探测与测距（激光）训练相机并成像雷达深学习网络

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摘要

Disclosed are techniques for annotating image frames using information from a light detection and ranging (LiDAR) sensor. An exemplary method includes receiving, from the LiDAR sensor, at least one LiDAR frame, receiving, from a camera sensor, at least one image frame, removing LiDAR points that represent a ground surface of the environment, identifying LiDAR points of interest in the at least one LiDAR frame, segmenting the LiDAR points of interest to identify at least one object of interest in the at least one LiDAR frame, and annotating the at least one image frame with a three-dimensional oriented bounding box of the at least one object of interest detected in the at least one image frame by projecting the three-dimensional oriented bounding boxes from the at least one LiDAR frame to the at least one image frame using cross-calibration transforms between the LiDAR sensor and the camera.
机译：公开了用于使用来自光检测和测距（LiDAR）传感器的信息来注释图像帧的技术。一种示例性方法包括：从LiDAR传感器接收至少一个LiDAR帧;从相机传感器接收至少一个图像帧;去除代表环境的地面的LiDAR点;在天线处识别感兴趣的LiDAR点。至少一个LiDAR帧，对感兴趣的LiDAR点进行分割以识别至少一个LiDAR帧中的至少一个感兴趣的对象，并用至少一个LiDAR对象的三维定向边界框注释至少一个图像帧。通过使用LiDAR传感器和照相机之间的交叉校准变换将三维定向的边界框从至少一个LiDAR帧投影到至少一个图像帧，在至少一个图像帧中检测到兴趣。

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