Title:
LIDAR POINT CLOUD SEGMENTATION METHOD AND APPARATUS, DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/021194
Kind Code:
A1
Abstract:
A lidar point cloud segmentation method and apparatus, a device, and a storage medium, for use in solving the technical problems that existing point cloud data segmentation schemes have relatively high computing resource consumption and relatively low segmentation accuracy. The method comprises: acquiring a three-dimensional point cloud and a two-dimensional image of a target scene, and performing image-blocking processing on the two-dimensional image to obtain a plurality of image blocks (101); randomly selecting one of the plurality of image blocks and outputting same to a preset two-dimensional feature extraction network for feature extraction to generate a multi-scale two-dimensional feature (102); performing feature extraction on the basis of the three-dimensional point cloud by using a preset three-dimensional feature extraction network to generate a multi-scale three-dimensional feature (103); performing fusion processing according to the multi-scale two-dimensional feature and the multi-scale three-dimensional feature to obtain a fused feature (104); and performing unidirectional modality-preserving distillation on the fused feature to obtain a single-modal semantic segmentation model, and performing discrimination on the basis of the single-modal semantic segmentation model by using the three-dimensional point cloud as an input to obtain a semantic segmentation label to segment the target scene (105).
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Inventors:
LI ZHEN (CN)
YAN XU (CN)
GAO JIANTAO (CN)
ZHENG CHAODA (CN)
ZHANG RUIMAO (CN)
CUI SHUGUANG (CN)
YAN XU (CN)
GAO JIANTAO (CN)
ZHENG CHAODA (CN)
ZHANG RUIMAO (CN)
CUI SHUGUANG (CN)
Application Number:
PCT/CN2022/113162
Publication Date:
February 01, 2024
Filing Date:
August 17, 2022
Export Citation:
Assignee:
THE CHINESE UNIV OF HONG KONG SHENZHEN FUTURE NETWORK OF INTELLIGENCE INSTITUTE (CN)
International Classes:
G06V10/26; G06N3/04; G06N3/08; G06V10/40; G06V20/64
Foreign References:
| CN113487664A | 2021-10-08 | |||
| CN114255238A | 2022-03-29 | |||
| CN114004972A | 2022-02-01 | |||
| US20200364554A1 | 2020-11-19 |
Attorney, Agent or Firm:
SHINY INTELLECTUAL PROPERTY FIRM (CN)
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