Pavement element annotation method for point cloud data with fusion of height, device for constructing and pre-annotation point cloud data with fusion of height, electronic device and computer-readable storage medium

A device for constructing and pre-annotation point cloud data with fusion of height, comprising memory and a processor configured for:

• constructing all single-frame point clouds into a joint point cloud in a global coordinate system based on a pose of each frame of single-frame point cloud;
• removing dynamic targets in the joint point cloud to obtain a static joint point cloud containing a plurality of points, each point having a respective set of coordinates which indicates a position of the point relative to an origin;
• transforming the static joint point cloud into a matrix based on the respective coordinates of the plurality of points, wherein the matrix has a width and a length, and saving the matrix as an image, thereby providing an overhead image;
• pre-annotating pavement elements in the overhead image by a pavement element pre-annotation model;
• modifying a pre-annotated result to obtain an overhead image annotation;
• module configured for establishing a transformational relation between pixels of the overhead image and points of the static joint point cloud based on a ball query algorithm and a ground point algorithm;
• and
• transforming the overhead image annotation into a static joint point cloud annotation based on the transformational relation.

An electronic device comprising:

• one or more processors;
• a memory for storing one or more programs;
• wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the following method:
• constructing all single-frame point clouds into a joint point cloud in a global coordinate system based on a pose of each frame of single-frame point cloud;
• removing dynamic objects in the joint point cloud to obtain a static joint point cloud containing a plurality of points, each point having a respective set of coordinates which indicates a position of the point relative to an origin;
• transforming the static joint point cloud into a matrix based on the respective coordinates of the plurality of points, wherein the matrix has a width and a length, and saving the matrix as an image, thereby providing an overhead image;
• pre-annotating pavement elements in the overhead image by using a pavement element pre-annotation model;
• modifying a pre-annotated result to obtain an overhead image annotation;
• establishing a transformational relation between pixels of the overhead image and points of the static joint point cloud based on a ball query algorithm and a ground point algorithm;
• and
• transforming the overhead image annotation into a static joint point cloud annotation based on the transformational relation.