The invention relates to the technical field of automatic driving, in particular to an implicit neural rendering-based automatic driving scene data generation method and system, and the method comprises the following steps: constructing an offline high-precision map based on sensor data; the sensor data comprises laser radar point cloud data and pose data; performing off-line target detection and tracking processing on the sensor data based on an off-line high-precision map to obtain a target detection tracking result; reconstructing an automatic driving scene by adopting a multi-view implicit surface reconstruction method to obtain a scene reconstruction result; the method comprises the following steps: editing a vehicle trajectory to generate a vehicle trajectory, and performing real-time simulation rendering by adopting various different types of sensors to obtain various types of highly realistic sensor data. According to the automatic driving scene data generation method and system based on implicit neural rendering, the problem that simulated multi-sensor data is not vivid can be effectively solved, and the method and system are suitable for large-scale dynamic automatic driving scenes.
本申请涉及自动驾驶技术领域,特别涉及一种基于隐式神经渲染的自动驾驶场景数据生成方法及系统,该方法包括以下步骤:基于传感器数据,构建离线高精地图;传感器数据包括激光雷达点云数据和位姿数据;基于离线高精地图,对传感器数据进行离线目标检测和跟踪处理,得到目标检测跟踪结果;采用多视角隐式表面重建的方法对自动驾驶的场景进行重建,得到场景重建结果;对车辆的轨迹进行编辑,生成车辆轨迹,采用多种不同类型的传感器进行实时仿真渲染,得到多种类型高度逼真的传感器数据。本申请提供的基于隐式神经渲染的自动驾驶场景数据生成方法及系统,能够有效解决仿真的多传感器数据不逼真的问题,并且适用于大规模的动态的自动驾驶场景。
Automatic driving scene data generation method and system based on implicit neural rendering
基于隐式神经渲染的自动驾驶场景数据生成方法及系统
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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