Title:
METHOD AND SYSTEM FOR ANNOTATING SENSOR DATA
Document Type and Number:
WIPO Patent Application WO/2022/106414
Kind Code:
A3
Abstract:
The invention relates to a computer-implemented method for annotating driving scenario sensor data, comprising the steps of receiving raw sensor data, the raw sensor data comprising a plurality of successive LIDAR point clouds and/or a plurality of successive camera images, recognizing objects in each image of the camera data and/or each point cloud using one or more neural networks, correlating objects within successive images and/or point clouds, removing false positive results on the basis of plausibility criteria, and exporting the annotated sensor data of the driving scenario.
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Inventors:
RÖDLER DANIEL (DE)
THOMAS PHILLIP (DE)
ROMANSKI SIMON (DE)
URUMOV GEORGI (DE)
BIESTER TOBIAS (DE)
JACOB RUBEN (DE)
NEUBERT BORIS (DE)
THOMAS PHILLIP (DE)
ROMANSKI SIMON (DE)
URUMOV GEORGI (DE)
BIESTER TOBIAS (DE)
JACOB RUBEN (DE)
NEUBERT BORIS (DE)
Application Number:
PCT/EP2021/081845
Publication Date:
August 11, 2022
Filing Date:
November 16, 2021
Export Citation:
Assignee:
DSPACE GMBH (DE)
International Classes:
G06V10/774; G06V10/80; G06V10/82; G06V20/58
Other References:
REZA MD ALIMOOR ET AL: "Automatic Dense Annotation for Monocular 3D Scene Understanding", IEEE ACCESS, IEEE, USA, vol. 8, 1 April 2020 (2020-04-01), pages 68852 - 68865, XP011785043, DOI: 10.1109/ACCESS.2020.2984745
KAIMING HE ET AL: "Mask R-CNN", 24 January 2018 (2018-01-24), XP055621354, Retrieved from the Internet [retrieved on 20190911], DOI: 10.1109/TPAMI.2018.2844175
LI E ET AL: "SUSTech POINTS: A Portable 3D Point Cloud Interactive Annotation Platform System", 2020 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE, 19 October 2020 (2020-10-19), pages 1108 - 1115, XP033873398, DOI: 10.1109/IV47402.2020.9304562
SHIVANG AGARWAL ET AL: "Recent Advances in Object Detection in the Age of Deep Convolutional Neural Networks", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 10 September 2018 (2018-09-10), XP081465554
JIE LI ET AL: "A Density-Aware PointRCNN for 3D Objection Detection in Point Clouds", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 11 September 2020 (2020-09-11), XP081760427
KOMARICHEV ARTEM ET AL: "A-CNN: Annularly Convolutional Neural Networks on Point Clouds", 2019 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), IEEE, 15 June 2019 (2019-06-15), pages 7413 - 7422, XP033686912, DOI: 10.1109/CVPR.2019.00760
KAIMING HE ET AL: "Mask R-CNN", 24 January 2018 (2018-01-24), XP055621354, Retrieved from the Internet
LI E ET AL: "SUSTech POINTS: A Portable 3D Point Cloud Interactive Annotation Platform System", 2020 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE, 19 October 2020 (2020-10-19), pages 1108 - 1115, XP033873398, DOI: 10.1109/IV47402.2020.9304562
SHIVANG AGARWAL ET AL: "Recent Advances in Object Detection in the Age of Deep Convolutional Neural Networks", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 10 September 2018 (2018-09-10), XP081465554
JIE LI ET AL: "A Density-Aware PointRCNN for 3D Objection Detection in Point Clouds", ARXIV.ORG, CORNELL UNIVERSITY LIBRARY, 201 OLIN LIBRARY CORNELL UNIVERSITY ITHACA, NY 14853, 11 September 2020 (2020-09-11), XP081760427
KOMARICHEV ARTEM ET AL: "A-CNN: Annularly Convolutional Neural Networks on Point Clouds", 2019 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), IEEE, 15 June 2019 (2019-06-15), pages 7413 - 7422, XP033686912, DOI: 10.1109/CVPR.2019.00760
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