The invention relates to the technical field of automatic driving, particularly provides an environment perception method, intelligent equipment and a computer readable storage medium, and aims to improve the efficiency and accuracy of image annotation so as to improve the accuracy of environment perception of an image by using a perception model. The method provided by the invention comprises the following steps: acquiring an IPM image of the intelligent equipment, and sensing a drivable area in the IPM image and an environment target located at the edge of the drivable area by adopting a sensing model; the perception model is obtained by training an IPM image of the intelligent equipment and annotation data of the IPM image; the labeling data comprises a drivable area of the intelligent equipment and an edge point chain of the drivable area, and the edge point chain comprises a plurality of edge points sequentially labeled on the edge of the drivable area and a first labeling category of the edge points; the edge points include inflection points and category change points. By means of the method, the labeling time can be remarkably shortened, the labeling accuracy is improved, and then the accuracy of environment perception of the image through the perception model is improved.
本申请涉及自动驾驶技术领域,具体提供一种环境感知方法、智能设备及计算机可读存储介质,旨在解决提高图像标注的效率和准确性,以提高利用感知模型对图像进行环境感知准确性的问题。本申请提供的方法包括获取智能设备的IPM图像,采用感知模型感知IPM图像中的可行驶区域以及位于可行驶区域边缘的环境目标;感知模型采用智能设备的IPM图像及其标注数据训练得到;标注数据包括智能设备的可行驶区域及其边缘点链,边缘点链包括在可行驶区域边缘依次标注的多个边缘点和边缘点的第一标注类别;边缘点包括拐点和类别改变点。通过上述方法,可以显著地降低标注时间,并提高标注的准确性,进而提高了通过感知模型对图像进行环境感知的准确性。
Environment perception method, intelligent equipment and computer readable storage medium
环境感知方法、智能设备及计算机可读存储介质
2024-07-05
Patent
Electronic Resource
Chinese
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