The invention provides a roadside system, a truth value system and a truth value determination method. The truth value system comprises an acquisition module configured to acquire laser radar point cloud data and background point cloud data of an environment; the preprocessing module is configured to preprocess the laser radar point cloud data and the background point cloud data to obtain 3D voxel data of a foreground object in the environment; and a surface rendering module configured to input the 3D voxel data into a self-supervised surface rendering model to obtain a model output comprising a multi-size feature map of the foreground object and a signed distance function (SDF), and carrying out surface rendering on the foreground object by adopting the multi-size feature map and the symbolic distance function to obtain a true value of the foreground object.
本发明提供了路侧系统、真值系统和真值确定方法。该真值系统包括:获取模块,配置成获取环境的激光雷达点云数据和背景点云数据;预处理模块,配置成对激光雷达点云数据和背景点云数据进行预处理,以得到所述环境中前景对象的3D体素数据;以及表面渲染模块,配置成将所述3D体素数据输入自监督表面渲染模型,以获得包含所述前景对象的多尺寸特征图和符号距离函数(SDF)的模型输出,并采用所述多尺寸特征图和所述符号距离函数对所述前景对象进行表面渲染以得到所述前景对象的真值。
Roadside system, truth value system, truth value determination method and automatic labeling method
路侧系统、真值系统、真值确定方法和自动标注方法
2024-08-09
Patent
Electronic Resource
Chinese
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