Title:
POINT CLOUD FUSION METHOD AND SYSTEM FOR MOVING OBJECT, AND COMPUTER STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/072710
Kind Code:
A1
Abstract:
A point cloud fusion method and system for a moving object, and a computer storage medium. The method comprises: determining a point cloud that belongs to a target object in point cloud data of the current frame (S110); determining a point cloud that belongs to the target object in point cloud data of an adjacent frame preceding the current frame, wherein the point cloud that belongs to the target object in the adjacent frame and the point cloud that belongs to the target object in the current frame respectively comprise point clouds at different parts of the target object (S120); and fusing, according to a change in the position and/or posture of the target object between the adjacent frame and the current frame, at least some of the point clouds that belong to the target object in the adjacent frame into the current frame (S130). Since a point cloud that belongs to a target object in an adjacent frame is fused into the current frame, the point cloud density of the target object is increased, thereby facilitating observation and tracking of the target object.
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Inventors:
PAN ZHICHEN (CN)
LI YANZHAO (CN)
LI YANZHAO (CN)
Application Number:
PCT/CN2019/111731
Publication Date:
April 22, 2021
Filing Date:
October 17, 2019
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G06K9/00
Foreign References:
| CN108647646A | 2018-10-12 | |||
| CN103955948A | 2014-07-30 | |||
| CN109724586A | 2019-05-07 | |||
| CN110264567A | 2019-09-20 | |||
| CN106875482A | 2017-06-20 | |||
| CN103559711A | 2014-02-05 | |||
| CN106846461A | 2017-06-13 |
Attorney, Agent or Firm:
P. C. & ASSOCIATES (CN)
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