# US 2021/0239491 A1 · Method and apparatus for generating information

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- Number: US 2021/0239491 A1
- Document ID: US20210239491A1
- Status: Published application
- Kind: A1
- Application number: 17/215,544
- Filed: 2021-03-29
- Published: 2021-08-05
- Earliest claimed: 2020-04-30
- Assignees: Beijing Baidu Netcom Science Technology Co., Ltd.
- Applicants: Beijing Baidu Netcom Science and Technology Co., Ltd.
- Inventors: Shiwei LI
- Web page: https://patentgrep.com/patent/US20210239491A1

## CPC

- G01C 21/3811: {Point data, e.g. Point of Interest [POI]}
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01C 21/30: Map- or contour-matching
- G01C 21/3667: {Display of a road map (G01C21/3614 takes precedence; guidance using 3D or perspective road maps G01C21/3635)}
- G01C 21/3837: {Data obtained from a single source}
- G01C 21/3856: {Data obtained from user input}
- G01S 13/89: for mapping or imaging
- G06T 7/11: Region-based segmentation
- G01S 17/89: for mapping or imaging
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- 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
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method and apparatus for generating information are provided. The method may include: receiving a point cloud of a target scenario, and displaying a point cloud frame in the point cloud; receiving region selection information inputted by a user, the region selection information being sent by the user based on the displayed point cloud frame; processing point data in a target region corresponding to the region selection information to obtain a processed point cloud; and sending the processed point cloud to a test vehicle, the processed point cloud being used for generation of positioning information.

## Claims

### Claim 1

A method for generating information, comprising:
receiving a point cloud of a target scenario, and displaying a point cloud frame in the point cloud;
receiving region selection information inputted by a user, the region selection information being sent by the user based on the displayed point cloud frame;
processing point data in a target region corresponding to the region selection information to obtain a processed point cloud; and
sending the processed point cloud to a test vehicle, the processed point cloud being used for generation of positioning information.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the processing the point data in the target region corresponding to the region selection information to obtain the processed point cloud comprises:
receiving segmentation algorithm configuration information sent by the user for the point data in the target region, the segmentation algorithm configuration information comprising a segmentation algorithm name and an algorithm parameter value;
segmenting, based on a segmentation algorithm corresponding to the segmentation algorithm name and the algorithm parameter value, the point data in the target region to segment point data corresponding to a target object; and
replacing the point data corresponding to the target object with preset point data for replacement to obtain the processed point cloud.

### Claim 3 (depends on 2)

The method according to claim 2, wherein the point data for replacement is determined by:
determining the point data for replacement based on the point data within a preset range of a region where the target object is located.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the displaying the point cloud frame in the point cloud comprises:
transforming point data in the point cloud frame of the point cloud to a world coordinate system; and
displaying, in combination with an electronic map corresponding to the target scenario, the point data in the point cloud frame in the electronic map.

### Claim 5 (depends on 1)

The method according to claim 1, wherein the processing the point data in the target region corresponding to the region selection information to obtain the processed point cloud comprises:
constructing, in a radar coordinate system, point data of a to-be-added object based on construction information of the object inputted by the user; and
replacing the point data in the target region with the point data of the to-be-added object to obtain the processed point cloud.

### Claim 6

An electronic device, comprising:
at least one processor; and
a memory communicatively connected with the at least one processor;
the memory storing instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, causing the at least one processor to perform operations, the operations comprising:
receiving a point cloud of a target scenario, and displaying a point cloud frame in the point cloud;
receiving region selection information inputted by a user, the region selection information being sent by the user based on the displayed point cloud frame;
processing point data in a target region corresponding to the region selection information to obtain a processed point cloud; and
sending the processed point cloud to a test vehicle, the processed point cloud being used for generation of positioning information.

### Claim 7 (depends on 6)

The electronic device according to claim 6, wherein the processing the point data in the target region corresponding to the region selection information to obtain the processed point cloud comprises:
receiving segmentation algorithm configuration information sent by the user for the point data in the target region, the segmentation algorithm configuration information comprising a segmentation algorithm name and an algorithm parameter value;
segmenting, based on a segmentation algorithm corresponding to the segmentation algorithm name and the algorithm parameter value, the point data in the target region to segment point data corresponding to a target object; and
replacing the point data corresponding to the target object with preset point data for replacement to obtain the processed point cloud.

### Claim 8 (depends on 7)

The electronic device according to claim 7, wherein the point data for replacement is determined by:
determining the point data for replacement based on the point data within a preset range of a region where the target object is located.

### Claim 9 (depends on 6)

The electronic device according to claim 6, wherein the displaying point cloud frame in the point cloud comprises:
transforming point data in the point cloud frame of the point cloud to a world coordinate system; and
displaying, in combination with an electronic map corresponding to the target scenario, the point data in the point cloud frame in the electronic map.

### Claim 10 (depends on 6)

The electronic device according to claim 6, wherein the processing the point data in the target region corresponding to the region selection information to obtain the processed point cloud comprises:
constructing, in a radar coordinate system, point data of a to-be-added object based on construction information of the object inputted by the user; and
replacing the point data in the target region with the point data of the to-be-added object to obtain the processed point cloud.

### Claim 11

A non-transitory computer readable storage medium storing computer instructions, the computer instructions, when executed by a computer, causing the computer to perform operations, the operations comprising:
receiving a point cloud of a target scenario, and displaying a point cloud frame in the point cloud;
receiving region selection information inputted by a user, the region selection information being sent by the user based on the displayed point cloud frame;
processing point data in a target region corresponding to the region selection information to obtain a processed point cloud; and
sending the processed point cloud to a test vehicle, the processed point cloud being used for generation of positioning information.

### Claim 12 (depends on 11)

The non-transitory computer readable storage medium according to claim 11, wherein the processing the point data in the target region corresponding to the region selection information to obtain the processed point cloud comprises:
receiving segmentation algorithm configuration information sent by the user for the point data in the target region, the segmentation algorithm configuration information comprising a segmentation algorithm name and an algorithm parameter value;
segmenting, based on a segmentation algorithm corresponding to the segmentation algorithm name and the algorithm parameter value, the point data in the target region to segment point data corresponding to a target object; and
replacing the point data corresponding to the target object with preset point data for replacement to obtain the processed point cloud.

### Claim 13 (depends on 12)

The non-transitory computer readable storage medium according to claim 12, wherein the point data for replacement is determined by:
determining the point data for replacement based on the point data within a preset range of a region where the target object is located.

### Claim 14 (depends on 11)

The non-transitory computer readable storage medium according to claim 11, wherein the displaying point cloud frame in the point cloud comprises:
transforming point data in the point cloud frame of the point cloud to a world coordinate system; and
displaying, in combination with an electronic map corresponding to the target scenario, the point data in the point cloud frame in the electronic map.

### Claim 15 (depends on 11)

The non-transitory computer readable storage medium according to claim 11, wherein the processing the point data in the target region corresponding to the region selection information to obtain the processed point cloud comprises:
constructing, in a radar coordinate system, point data of a to-be-added object based on construction information of the object inputted by the user; and
replacing the point data in the target region with the point data of the to-be-added object to obtain the processed point cloud.