Title:
METHOD AND APPARATUS FOR CONSTRUCTING SEMANTIC MAP
Document Type and Number:
WIPO Patent Application WO/2023/138331
Kind Code:
A1
Abstract:
A method for constructing a semantic map, comprising: first, determining a point cloud data set for constructing a semantic map and an image comprising a road (S201); then, determining a correspondence between points in the point cloud data set and pixels in the image (S202); next, determining semantics of the points in the point cloud data set on the basis of semantics of the pixels in the image and the correspondence (S203); and then, constructing a semantic map on the basis of the semantics of the points in the point cloud data set (S204). When the semantic map is constructed, semantic segmentation is not performed on the point cloud data set, but semantic segmentation is performed on the image, and then, the semantics of the points in the point cloud data set are determined according to the semantics of the pixels in the image and the correspondence between the pixels and the points in the point cloud data set. Therefore, compared with performing semantic segmentation on the point cloud data set, the efficiency of performing semantic segmentation on the image is higher. Thus, the construction efficiency of the semantic map can be improved.
Inventors:
XU SHIQI (CN)
ZHANG QIAN (CN)
ZHANG QIAN (CN)
Application Number:
PCT/CN2022/142860
Publication Date:
July 27, 2023
Filing Date:
December 28, 2022
Export Citation:
Assignee:
BEIJING HORIZON INFORMATION TECH CO LTD (CN)
International Classes:
G01C21/00
Domestic Patent References:
| WO2020103109A1 | 2020-05-28 |
Foreign References:
| CN114440856A | 2022-05-06 | |||
| CN114067068A | 2022-02-18 | |||
| CN114413881A | 2022-04-29 | |||
| CN114612616A | 2022-06-10 | |||
| CN111523547A | 2020-08-11 | |||
| US10650278B1 | 2020-05-12 | |||
| CN112069856A | 2020-12-11 | |||
| CN113808251A | 2021-12-17 | |||
| CN111105695A | 2020-05-05 | |||
| CN113724387A | 2021-11-30 |
Attorney, Agent or Firm:
CHINABLE IP (CN)
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