Title:
VIDEO SEGMENTATION-BASED LIDAR DATA AUGMENTATION DEVICE AND LIDAR DATA AUGMENTATION METHOD
Document Type and Number:
WIPO Patent Application WO/2023/158072
Kind Code:
A1
Abstract:
The present invention relates to a LiDAR data augmentation method performed by a LiDAR data augmentation device linked with a camera and a LiDAR sensor, the method comprising the steps of: acquiring an image frame from the camera; acquiring LiDAR data in the same area as the camera from the LiDAR sensor; generating a segmentation mask for an object included in the image frame; sampling and acquiring a two-dimensional point included in the generated segmentation mask; and generating augmented LiDAR data on the basis of the LiDAR data and the two-dimensional point. Accordingly, not only three-dimensional object detection and classification performance can be enhanced, but also non-recognition and classification problems due to the size of an object or the distance from a sensor can be enhanced. In addition, not only efficiency in calculation can be secured since a three-dimensional convolution operation is not used for data augmentation, but also an occlusion problem caused by the conventional still image segmentation-based scheme can be effectively handled.
Inventors:
HAN DONGSEOG (KR)
KIM MINYOUNG (KR)
KHAN DANISH (KR)
BAEK MINJIN (KR)
KIM MINYOUNG (KR)
KHAN DANISH (KR)
BAEK MINJIN (KR)
Application Number:
PCT/KR2022/019792
Publication Date:
August 24, 2023
Filing Date:
December 07, 2022
Export Citation:
Assignee:
KYUNGPOOK NAT UNIV IND ACADEMIC COOP FOUND (KR)
International Classes:
G01S17/894; G01S7/497; G01S17/86; G06N3/04; G06T7/10; G06T7/174; G06T7/593
Foreign References:
| KR20190120492A | 2019-10-24 | |||
| JP2018503151A | 2018-02-01 | |||
| KR102233395B1 | 2021-03-30 | |||
| KR101974911B1 | 2019-05-03 |
Other References:
YO HAN LIM, IN HYEOK JEONG, SAN SUNG LEE, SUNG SOO HWANG: "Point Cloud Generation Method Based on Lidar and Stereo Camera for Creating Virtual Space", JOURNAL OF KOREA MULTIMEDIA SOCIETY, KOREA MULTIMEDIA SOCIETY, KR, vol. 24, no. 11, 30 November 2021 (2021-11-30), KR , pages 1518 - 1525, XP009548689, ISSN: 1229-7771, DOI: 10.9717/kmms.2021.24.11.1518
Attorney, Agent or Firm:
YUN, Kuisang (KR)
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