The invention discloses a road static truth value generation method and device, a storage medium and electronic equipment. The method comprises the steps that a three-dimensional point cloud map obtained by a true value vehicle is projected to a two-dimensional plane, a two-dimensional intensity map and a two-dimensional elevation map are obtained, the value of each pixel in the two-dimensional intensity map is used for indicating intensity information of a corresponding position, and the value of each pixel in the two-dimensional elevation map is used for indicating height information of the corresponding position; marking the two-dimensional intensity diagram to obtain a mark of at least one road static element, and back-projecting the mark of the road static element to a three-dimensional point cloud map to obtain a three-dimensional true value, the mark of the road static element being used for indicating a point set and a category corresponding to the road static element; and converting the three-dimensional truth value into a camera image according to the camera parameter to obtain a two-dimensional truth value. According to the invention, the technical problem of low efficiency of a road static truth value generation method provided by the related technology is solved.
本申请公开了一种道路静态真值的生成方法和装置、存储介质及电子设备。该方法包括:将真值车获取的三维点云地图投影到二维平面上,得到二维强度图和二维高程图,其中,二维强度图中每个像素的值用于指示对应位置的强度信息,二维高程图中每个像素的值用于指示对应位置的高度信息;对二维强度图进行标注,得到至少一个道路静态元素的标注,并将道路静态元素的标注反投影至三维点云地图中,得到三维真值,其中,道路静态元素的标注用于指示道路静态元素对应的点集和类别;将三维真值根据相机参数转换至相机图像中,得到二维真值。本申请解决了相关技术提供的道路静态真值的生成方法存在效率较低的技术问题。
Road static truth value generation method and device, storage medium and electronic equipment
道路静态真值的生成方法和装置、存储介质及电子设备
2025-04-25
Patent
Electronic Resource
Chinese
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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