Object annotation method and apparatus, movement control method and apparatus, device, and storage medium

An object annotation apparatus, comprising:

• at least one memory storing computer readable instructions, and at least one processor configured, when executing the computer readable instructions, to perform:
• obtaining a reference image of an environment space, the reference image comprising at least one reference object;
• obtaining target point cloud data by scanning the environment space with a three-dimensional space sensor, the target point cloud data indicating a three-dimensional space region occupied by a target object in the environment space;
• determining a target reference object corresponding to the target object from the reference image;
• classifying, based on the target point cloud data, the target reference object into a corresponding classification category, to obtain an object information of the target reference object, wherein the object information includes the classification category of the target reference object;
• obtaining a standard size value set for the classification category of the target reference object;
• determining, according to the standard size value, a projection size of the three-dimensional space region corresponding to the target point cloud data and the three-dimensional space region being projected onto the reference image;
• and
• performing three-dimensional annotation on the target reference object in the reference image according to the determined projection size.

A non-transitory computer readable storage medium, the computer storage medium storing a computer program instruction that, when executed, causing at least one processor to perform:

• obtaining a reference image of an environment space, the reference image comprising at least one reference object;
• obtaining target point cloud data by scanning the environment space with a three-dimensional space sensor, the target point cloud data indicating a three-dimensional space region occupied by a target object in the environment space;
• determining a target reference object corresponding to the target object from the reference image;
• classifying, based on the target point cloud data, the target reference object into a corresponding classification category, to obtain an object information of the target reference object, wherein the object information includes the classification category of the target reference object;
• obtaining a standard size value set for the classification category of the target reference object;
• determining, according to the standard size value, a projection size of the three-dimensional space region corresponding to the target point cloud data and the three-dimensional space region being projected onto the reference image;
• and
• performing three-dimensional annotation on the target reference object in the reference image according to the determined projection size.