Method and apparatus for generating spatial geometric information estimation model

A non-transitory computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used for performing a method for generating a spatial geometric information estimation model,

• wherein the method for generating a spatial geometric information estimation model, including:
• acquiring point cloud data collected for a preset scene and a scene image captured for the preset scene;
• determining coordinates corresponding to the point cloud data in a camera coordinate system corresponding to the scene image;
• determining, based on the coordinates, annotation spatial geometric information of a target pixel in the scene image corresponding to the point cloud data, wherein the annotation spatial geometric information is a ratio between height information and depth information that correspond to the target pixel or a ratio between the depth information and the height information;
• and
• training an initial model by using the scene image as an input of the initial model and the annotation spatial geometric information of the target pixel as an expected output of the initial model to obtain the spatial geometric information estimation model.

An electronic device, the electronic device including:

• a processor;
• and
• a memory, configured to store instructions executable by the processor, wherein
• the processor is configured to read the executable instructions from the memory and execute the instructions to implement a method for generating a spatial geometric information estimation model,
• wherein the method for generating a spatial geometric information estimation model, including:
• acquiring point cloud data collected for a preset scene and a scene image captured for the preset scene;
• determining coordinates corresponding to the point cloud data in a camera coordinate system corresponding to the scene image;
• determining, based on the coordinates, annotation spatial geometric information of a target pixel in the scene image corresponding to the point cloud data, wherein the annotation spatial geometric information is a ratio between height information and depth information that correspond to the target pixel or a ratio between the depth information and the height information;
• and
• training an initial model by using the scene image as an input of the initial model and the annotation spatial geometric information of the target pixel as an expected output of the initial model to obtain the spatial geometric information estimation model.