Title:
METHOD FOR GENERATING POINT CLOUD NORMAL VECTOR, APPARATUS, COMPUTER DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/133770
Kind Code:
A1
Abstract:
A method for generating a point cloud normal vector, comprising: acquiring multiple frames of point cloud data, wherein the multiple frames of point cloud data comprise historical frames of point cloud data and the current frame of point cloud data; combining the multiple frames of point cloud data, to obtain combined point cloud data; performing motion state analysis on the combined point cloud data, to obtain an analysis result; determining, according to the analysis result, an area to which each point in the current frame of point cloud data belongs; when the area is a static area, searching in the area for a neighborhood of a point corresponding to the area; and calculating, according to the neighborhood, a normal vector of the point corresponding to the neighborhood.
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Inventors:
WU WEI (CN)
Application Number:
PCT/CN2020/138505
Publication Date:
June 30, 2022
Filing Date:
December 23, 2020
Export Citation:
Assignee:
SHENZHEN DEEPROUTE AI CO LTD (CN)
International Classes:
G06T7/50
Foreign References:
| CN111815707A | 2020-10-23 | |||
| CN108230379A | 2018-06-29 | |||
| CN104616349A | 2015-05-13 | |||
| CN110954912A | 2020-04-03 | |||
| CN111932943A | 2020-11-13 | |||
| US20190011566A1 | 2019-01-10 |
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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