3d image labeling method based on labeling information of 2d image and 3d image labeling device

A 3D image labeling device, comprising:

• a processor;
• and
• a memory, configured to store a point cloud cluster module, a projection module, an integration module and a point cloud recovery module,
• wherein the point cloud cluster module, when executed by the processor, causes the processor to cluster a plurality of points of a 3D unlabeled image as one or more first point clusters according to the 3D unlabeled image and a cluster algorithm to generate a 3D clustered image,
• wherein the projection module, when executed by the processor, causes the processor to generate a first 2D image with one or more first objects according to the 3D clustered image, wherein each of the one or more first point clusters corresponds to one of the one or more first objects,
• wherein the integration module, when executed by the processor, causes the processor to label the one or more first objects of the first 2D image according to one or more object frames of one or more 2D labeled images to generate a second 2D image,
• wherein the point cloud recovery module, when executed by the processor, causes the processor to generate a 3D labeled image according to the second 2D image, and
• wherein for each of the one or more first objects of the first 2D image, the integration module, when executed by the processor, causes the processor to determine whether a respective object of the one or more first objects falls within a range corresponding to one of the one or more object frames of the one or more 2D labeled images, wherein when the determination is affirmative, the respective object is labeled according to a category of the corresponding object frame;
• otherwise, the respective object is not labeled, and the second 2D image is generated.