Point cloud intensity completion method and system based on semantic segmentation

A point cloud intensity completion system based on a semantic segmentation, comprising a photographic camera, a lidar, a point cloud data pre-processing module, a coarse-grained reflection intensity completion module, a semantic segmentation module, and a fine-grained reflection intensity completion module, wherein

• the photographic camera is configured to acquire an RGB image of a road surface;
• the lidar is configured to synchronously acquire point cloud data of the road surface;
• the point cloud data pre-processing module is configured to perform a spatial transformation on the point cloud data by using a conversion matrix between a lidar coordinate system and a photographic camera imaging coordinate system to generate a two-dimensional reflection intensity projection map and a two-dimensional depth projection map;
• the coarse-grained reflection intensity completion module is configured to perform a feature stitching and a reflection intensity completion on the RGB image and the two-dimensional reflection intensity projection map to obtain a single-channel reflection intensity projection map;
• perform the feature stitching and a depth completion on the RGB image and the two-dimensional depth projection map to obtain a single-channel depth projection map;
• and perform a coarse-grained completion on the RGB image, the single-channel reflection intensity projection map and the single-channel depth projection map to obtain a two-dimensional coarse-grained reflectance intensity projection map;
• the semantic segmentation module is configured to perform the feature stitching and semantic segmentation on the RGB image and the two-dimensional depth projection map to obtain a plurality of regions to be completed;
• and
• the fine-grained reflection intensity completion module is configured to perform a fine-grained reflection intensity completion on the two-dimensional coarse-grained reflectance intensity projection map according to the plurality of regions to be completed to obtain a two-dimensional reflection intensity projection completion map.