# US 2020/0402302 A1 · Method and device of labeling laser point cloud

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- Number: US 2020/0402302 A1
- Document ID: US20200402302A1
- Status: Published application
- Kind: A1
- Application number: 17/013,150
- Filed: 2020-09-04
- Published: 2020-12-24
- Earliest claimed: 2017-04-20
- Assignees: Beijing Tusen Weilai Technology Co., Ltd.
- Applicants: Beijing Tusen Weilai Technology Co., Ltd.
- Inventors: Zhimeng WANG; Jieshu LI; He ZHENG
- Web page: https://patentgrep.com/patent/US20200402302A1

## CPC

- G06T 17/05: Geographic models
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 17/89: for mapping or imaging
- G06T 19/003: {Navigation within 3D models or images}
- G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
- G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32)
- G06F 3/04815: Interaction with a metaphor-based environment or interaction object displayed as three-dimensional [3D], e.g. changing the user viewpoint with respect to the environment or object
- G06F 3/0482: Interaction with lists of selectable items, e.g. menus
- G06F 3/04845: for image manipulation, e.g. dragging, rotation, expansion or change of colour
- G06T 2200/24: involving graphical user interfaces [GUIs]
- G06T 2219/004: Annotating, labelling
- G06T 2219/2012: Colour editing, changing, or manipulating; Use of colour codes
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

The present application discloses a method and device of labeling laser point cloud. The method comprises: receiving data of a laser point cloud; constructing a 3D scene and establishing a 3D coordinate system corresponding to the 3D scene; converting a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system; mapping laser points included in the laser point cloud into the 3D scene respectively according to the 3D coordinate of the laser points; labeling the laser points in the 3D scene.

## Claims

### Claim 1

A method of labeling a laser point cloud, comprising:
receiving, by a device for labeling laser point clouds, data of the laser point cloud;
constructing a 3D scene and establishing a 3D coordinate system corresponding to the 3D scene;
converting a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system;
mapping laser points in the laser point cloud into the 3D scene respectively according using the 3D coordinates of the laser points; and
labeling the laser points in the 3D scene, in which labeling the laser points in the 3D scene comprises:
determining types to which the laser points in the 3D scene belong according to a first mode or a second mode:
wherein the first mode comprises:
generating a 3D selecting box according to first size information set by a user;
moving a position of the 3D selecting box in the 3D scene according to a first moving instruction input by the user; and
when receiving a labeling instruction carrying a target type, taking laser points currently falling within the 3D selecting box as target laser points and taking the target type in the labeling instruction as a type to which the target laser points belong; and
wherein the second mode comprises:
generating a ray by taking the position of a camera of the at least one camera as a start point and taking a screen position point selected by the user as an end point;
taking laser points meeting the following conditions as target laser points: a distance of a laser point from the start point is between a first distance threshold and a second distance threshold, and a vertical distance of the laser point from the ray is less than or equal to a third distance threshold; and
when receiving a labeling instruction carrying a target type, taking the target type in the labeling instruction as a type to which the target laser points belong; and
labeling the laser points by using labeling manners corresponding to the types to which the laser points belong, wherein different types correspond to different labeling manners.

### Claim 2 (depends on 1)

The method according to claim 1, wherein after constructing the 3D scene, the method further comprises constructing at least one camera in the 3D scene, to adjust an angle and a range of viewing the laser point cloud in the 3D scene by adjusting a position and a direction of the at least one camera in the 3D scene, during the process of labeling the laser points in the 3D scene.

### Claim 3 (depends on 1)

The method according to claim 1, wherein the labeling instruction contains a labeling color corresponding to the target type and labeling the laser points according to the labeling manners corresponding to the type to which the laser points belong comprises:
setting a color of the target laser points to be the labeling color in the labeling instruction, wherein different target types correspond to different labeling colors.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the labeling instruction further contains a labeling box pattern corresponding to the target type, and labeling the laser points according to the labeling manner corresponding to the type to which the laser points belong comprises:
generating a 3D labeling box according to the labeling box pattern, and
labeling each target laser point respectively by using the 3D labeling box, wherein different target types correspond to different labeling box patterns.

### Claim 5 (depends on 3)

The method according to claim 3, wherein setting the color of the target laser points to be the labeling color in the labeling instruction comprises:
generating a 3D coloring box according to second size information set by the user;
moving the 3D coloring box according to a second moving instruction input by the user, to paint the color of the target laser points falling within the 3D coloring box during the moving process into the labeling color in the labeling instruction.

### Claim 6 (depends on 5)

The method according to claim 5 further comprising:
setting the 3D coloring box with an eraser attribute according to an erasure instruction input by the user;
moving the 3D coloring box according to a third moving instruction input by the user, to erase the color of the laser points falling within the 3D coloring box during the moving process.

### Claim 7 (depends on 2)

The method according to claim 2, wherein labeling the laser point according to the labeling manner corresponding to the type to which the laser points belong comprises:
determining a labeling color corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling colors, and setting a color of the laser points to be the labeling color corresponding to the type to which the laser points belong; or
determining a labeling box pattern corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling box patterns, generating a 3D labeling box according to the labeling box pattern corresponding to the type to which the laser points belong, and labeling the laser points by using the 3D labeling box.

### Claim 8

A device for labeling laser point clouds, comprising:
a receiving unit configured to receive data of a laser point cloud;
a constructing unit configured to construct a 3D scene and establish a 3D coordinate system corresponding to the 3D scene;
a converting unit configured to convert a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system;
a mapping unit configured to map the laser points included in the laser point cloud into the 3D scene using the 3D coordinate of the laser points;
a labeling unit configured to label the laser points in the 3D scene, the labeling unit comprising:
a determining subunit configured to determine types to which the laser points in the 3D scene belong; and
a labeling subunit configured to label the laser points by using labeling manners corresponding to the types to which the laser points belong, wherein different types correspond to different labeling manners.

### Claim 9 (depends on 8)

The device according to claim 8, the device further comprising:
a camera constructing unit configured to construct at least one camera in the 3D scene, to adjust an angle and a range of viewing the laser point cloud in the 3D scene by adjusting a position and a direction of the at least one camera in the 3D scene during the process of labeling the laser points in the 3D scene.

### Claim 10 (depends on 9)

The device according to claim 9, wherein the determining subunit is specifically configured to determine types to which the laser points in the 3D scene belong according to a first mode or a second mode.

### Claim 11 (depends on 10)

The device according to claim 10, wherein:
the first mode comprises:
generating a 3D selecting box according to first size information set by a user;
moving a position of the 3D selecting box in the 3D scene according to a first moving instruction input by the user; and
when receiving a labeling instruction carrying a target type, taking laser points currently falling within the 3D selecting box as target laser points and taking the target type in the labeling instruction as a type to which the target laser points belong; and
further wherein the second mode comprises:
generating a ray by taking the position of a camera of the at least one camera as a start point and taking a screen position point selected by the user as an end point;
taking laser points meeting the following conditions as target laser points:
a distance of a laser point from the start point is between a first distance threshold and a second distance threshold, and
a vertical distance of the laser point from the ray is less than or equal to a third distance threshold; and
when receiving a labeling instruction carrying a target type, taking the target type in the labeling instruction as a type to which the target laser points belong.

### Claim 12 (depends on 11)

The device according to claim 11, wherein the labeling instruction further contains a labeling color corresponding to the target type, and the labeling subunit is specifically configured to: set a color of the target laser points to be the labeling color in the labeling instruction, wherein different target types correspond to different labeling colors.

### Claim 13 (depends on 12)

The device according to claim 12, wherein the labeling subunit sets the color of the target laser point to be the labeling color in the labeling instruction, the labeling subunit configured to:
generate a 3D coloring box according to second size information set by the user;
move the 3D coloring box according to a second moving instruction input by the user, to paint the color of the target laser point falling within the 3D coloring box during the moving process into the labeling color in the labeling instruction;
wherein the labeling subunit is further configured to:
set the 3D coloring box with an eraser attribute according to an erasure instruction input by the user;
move the 3D coloring box according to a third moving instruction input by the user, to erase the color of the laser points falling within the 3D coloring box during the moving process.

### Claim 14 (depends on 9)

The device according to claim 9, wherein the labeling subunit is specifically configured to:
determine a labeling color corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling colors, and set a color of the laser points to be the labeling color corresponding to the type to which the laser points belong; or
determine a labeling box pattern corresponding to the type to which the laser points belong according to a preset correspondence between types and labeling box patterns, generate a 3D labeling box according to the labeling box pattern corresponding to the type to which the laser points belong, and label the laser points by using the 3D labeling box.

### Claim 15

A device configured to label a laser point cloud, the device comprising a processor and a memory, wherein:
the memory is configured to store at least one machine executable instruction, and the processor is configured to execute the at least executable instruction to:
receive data of a laser point cloud;
construct a 3D scene and establish a 3D coordinate system corresponding to the 3D scene;
convert a coordinate of each laser point in the laser point cloud into a 3D coordinate in the 3D coordinate system;
map the laser points in the laser point cloud into the 3D scene using the 3D coordinate of the laser points; and
label the laser points in the 3D scene, the instruction to label the laser point in the 3D scene comprising further instructions to:
determine types to which the laser point in the 3D scene belongs; and
label the laser points by using labeling manners corresponding to the types to which the laser points belong, wherein different types correspond to different labeling manners.

### Claim 16 (depends on 15)

The device according to claim 15, wherein the processor executes the at least one machine executable instruction to construct the 3D scene and then further to:
construct at least one camera in the 3D scene, to adjust an angle and a range of viewing the laser point cloud in the 3D scene by adjusting a position and a direction of the at least one camera in the 3D scene during the process of labeling the laser points in the 3D scene.

### Claim 17 (depends on 15)

The device according to claim 15, wherein the processor executes the at least one machine executable instruction to determine the types to which the laser points in the 3D scene belongs according to a first mode or a second mode, wherein:
the first mode comprises:
generating a 3D selecting box according to first size information set by a user;
moving a position of the 3D selecting box in the 3D scene according to a first moving instruction input by the user; and
when receiving a labeling instruction carrying a target type, taking laser points currently falling within the 3D selecting box as target laser points and taking the target type in the labeling instruction as a type to which the target laser points belong; and
the second mode comprises:
generating a ray by taking the position of a camera of the at least one camera as a start point and taking a screen position point selected by the user as an end point;
taking laser points meeting the following conditions as target laser points: a distance of a laser point from the start point is between a first distance threshold and a second distance threshold, and a vertical distance of the laser point from the ray is less than or equal to a third distance threshold; and
when receiving a labeling instruction carrying a target type, taking the target type in the labeling instruction as a type to which the target laser points belong.

### Claim 18 (depends on 17)

The device according to claim 17, wherein the labeling instruction further contains a labeling color corresponding to the target type, then the processor executes the at least one machine executable instruction to label the laser points according to the labeling manners corresponding to the type to which the laser points belong, which comprises:
set a color of the target laser points to be the labeling color in the labeling instruction, wherein different target types correspond to different labeling colors.

### Claim 19 (depends on 17)

The device according to claim 17, wherein the labeling instruction further contains a labeling box pattern corresponding to the target type, further wherein:
the processor executes the at least one machine executable instruction to label the laser points according to the labeling manner corresponding to the type to which the laser points belong, comprising instructions to generate a 3D labeling box according to the labeling box pattern, and label each target laser point respectively by using the 3D labeling box, wherein different target types correspond to different labeling box patterns;
the processor executes the at least one machine executable instruction to set the color of the target laser point to be the labeling color in the labeling instruction, which comprises instructions to:
generate a 3D coloring box according to second size information set by the user; and
move the 3D coloring box according to a second moving instruction input by the user, to paint the color of the target laser points falling within the 3D coloring box during the moving process into the labeling color in the labeling instruction;
the processor further executes the at least one machine executable instruction to:
set the 3D coloring box with an eraser attribute according to an erasure instruction input by the user; and
move the 3D coloring box according to a third moving instruction input by the user, to erase the color of the laser points falling within the 3D coloring box during the moving process.

### Claim 20 (depends on 15)

The device according to claim 15, wherein the processor executes the at least one machine executable instruction to label the laser point according to the labeling manner corresponding to the type to which the laser points belong, which comprises:
determine a labeling color corresponding to the type to which the laser points belong according to a preset correspondence between types to which the laser points belong and labeling colors, and set a color of the laser points to be the labeling color corresponding to the type to which the laser points belong; or
determine a labeling box pattern corresponding to the type to which the laser points belong according to a preset correspondence between types to which the laser points belong and labeling box patterns, generate a 3D labeling box according to the labeling box pattern corresponding to the type to which the laser points belong, and label the laser point by using the 3D labeling box.