The invention provides a model training method and device and an automatic driving vehicle, and relates to the field of computers, in particular to the field of automatic driving. According to the method and the device, the original point cloud of the scene is compared with the original image to determine the prediction semantic tag by improving a fusion mode of copying and pasting data enhancement and endowing semantics to the point cloud, the error of the prediction semantic tag is reduced by reducing the comparison error between the point cloud and the image, and the prediction semantic tag is more accurate. The point cloud of the instance sample attached with the real semantic tag replaces part of points in the point cloud attached with the prediction semantic tag, the point cloud attached with the mixed semantic tag serves as training data, and compared with the point cloud only attached with the prediction semantic tag serving as the training data, the number of accurate semantic tags is increased. Therefore, the error of the semantic tag in the training data is reduced, the accuracy of the training data is improved, and the accuracy of the trained point cloud target detection model is improved.
本公开提出一种模型训练方法和装置及自动驾驶车辆,涉及计算机领域,尤其涉及自动驾驶领域。本公开通过改进复制粘贴的数据增强与为点云赋予语义的融合方式,将场景的原始点云与原始图像进行对照以确定预测语义标签,通过减小点云与图像间的对照误差来减小预测语义标签的误差,并且,将附带真实语义标签的实例样本的点云替换附带预测语义标签的点云中的部分点,将附带混合语义标签的点云作为训练数据,相对于仅附带预测语义标签的点云作为训练数据,增加准确语义标签的数量。从而,减小训练数据中语义标签的误差,提高训练数据的准确性,有利于提高被训练的点云目标检测模型的准确性。
Model training method and device and automatic driving vehicle
模型训练方法和装置及自动驾驶车辆
2022-12-09
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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