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公开(公告)号：US11521370B2
公开(公告)日：2022-12-06
申请号：US17184363
申请日：2021-02-24
Inventor： Weixin Lu , Guowei Wan , Li Yu , Liang Peng , Shiyu Song
Abstract: The present disclosure provides a point cloud data processing method, apparatus, electronic device and computer readable storage medium, which relates to computer vision technology and may be used for autonomous driving. A specific implementation solution is as follows: obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points; according to the and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points; according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point; determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.
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公开(公告)号：US20210264197A1
公开(公告)日：2021-08-26
申请号：US17184363
申请日：2021-02-24
Inventor： Weixin Lu , Guowei Wan , Li Yu , Liang Peng , Shiyu Song
Abstract: The present disclosure provides a point cloud data processing method, apparatus, electronic device and computer readable storage medium, which relates to computer vision technology and may be used for autonomous driving. A specific implementation solution is as follows: obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points; according to the at least one first key point and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points; according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the at least one first key point and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point; determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.
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3.发明授权公开(公告)号：US11830207B2
公开(公告)日：2023-11-28
申请号：US17206999
申请日：2021-03-19
Inventor： Li Yu , Weixin Lu , Guowei Wan , Liang Peng , Shiyu Song
Abstract: A method, an electronic device and a readable storage medium for point cloud data processing, which may be used for autonomous driving, are disclosed. The feature vectors of respective points in the first point cloud data and second point cloud data are pre-learned, and thus the feature vectors of the first key points may be determined directly based on the learnt second feature vectors of respective first neighboring points of the respective first key points in the first point cloud data, and the feature vectors of the candidate key points may be determined directly based on the learnt third feature vectors of the respective second neighboring points of respective candidate key points in the second point cloud data corresponding to the first key points.
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4.发明申请公开(公告)号：US20210358213A1
公开(公告)日：2021-11-18
申请号：US17206999
申请日：2021-03-19
Inventor： Li Yu , Weixin Lu , Guowei Wan , Liang Peng , Shiyu Song
Abstract: A method, an electronic device and a readable storage medium for point cloud data processing, which may be used for autonomous driving, are disclosed. The feature vectors of respective points in the first point cloud data and second point cloud data are pre-learned, and thus the feature vectors of the first key points may be determined directly based on the learnt second feature vectors of respective first neighboring points of the respective first key points in the first point cloud data, and the feature vectors of the candidate key points may be determined directly based on the learnt third feature vectors of the respective second neighboring points of respective candidate key points in the second point cloud data corresponding to the first key points.
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