CN117058402B - 一种基于3d稀疏卷积的实时点云分割方法及装置 - Google Patents
一种基于3d稀疏卷积的实时点云分割方法及装置 Download PDFInfo
- Publication number
- CN117058402B CN117058402B CN202311022466.7A CN202311022466A CN117058402B CN 117058402 B CN117058402 B CN 117058402B CN 202311022466 A CN202311022466 A CN 202311022466A CN 117058402 B CN117058402 B CN 117058402B
- Authority
- CN
- China
- Prior art keywords
- voxel
- features
- point
- processing
- global
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000011218 segmentation Effects 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000012545 processing Methods 0.000 claims abstract description 86
- 230000004927 fusion Effects 0.000 claims abstract description 44
- 238000000605 extraction Methods 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 9
- 238000012549 training Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 238000011176 pooling Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/045—Combinations of networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
- G06N3/0464—Convolutional networks [CNN, ConvNet]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
- G06V10/806—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of extracted features
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/70—Labelling scene content, e.g. deriving syntactic or semantic representations
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computing Systems (AREA)
- Software Systems (AREA)
- General Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computational Linguistics (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Medical Informatics (AREA)
- Databases & Information Systems (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311022466.7A CN117058402B (zh) | 2023-08-15 | 2023-08-15 | 一种基于3d稀疏卷积的实时点云分割方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202311022466.7A CN117058402B (zh) | 2023-08-15 | 2023-08-15 | 一种基于3d稀疏卷积的实时点云分割方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN117058402A CN117058402A (zh) | 2023-11-14 |
CN117058402B true CN117058402B (zh) | 2024-03-12 |
Family
ID=88662005
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202311022466.7A Active CN117058402B (zh) | 2023-08-15 | 2023-08-15 | 一种基于3d稀疏卷积的实时点云分割方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN117058402B (zh) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113378854A (zh) * | 2021-06-11 | 2021-09-10 | 武汉大学 | 一种融合原始点云和体素划分的点云目标检测方法 |
CN115861632A (zh) * | 2022-12-20 | 2023-03-28 | 清华大学 | 一种基于图卷积的视觉激光融合的三维目标检测方法 |
CN115984564A (zh) * | 2023-01-09 | 2023-04-18 | 北京数字绿土科技股份有限公司 | 一种基于体素聚类和稀疏卷积的点云语义分割方法和系统 |
-
2023
- 2023-08-15 CN CN202311022466.7A patent/CN117058402B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113378854A (zh) * | 2021-06-11 | 2021-09-10 | 武汉大学 | 一种融合原始点云和体素划分的点云目标检测方法 |
CN115861632A (zh) * | 2022-12-20 | 2023-03-28 | 清华大学 | 一种基于图卷积的视觉激光融合的三维目标检测方法 |
CN115984564A (zh) * | 2023-01-09 | 2023-04-18 | 北京数字绿土科技股份有限公司 | 一种基于体素聚类和稀疏卷积的点云语义分割方法和系统 |
Also Published As
Publication number | Publication date |
---|---|
CN117058402A (zh) | 2023-11-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110532571B (zh) | 文本处理方法及相关装置 | |
WO2022007823A1 (zh) | 一种文本数据处理方法及装置 | |
CN111368993A (zh) | 一种数据处理方法及相关设备 | |
EP4206957A1 (en) | Model training method and related device | |
CN114612759B (zh) | 视频处理方法、查询视频的方法和模型训练方法、装置 | |
JP2022135991A (ja) | クロスモーダル検索モデルのトレーニング方法、装置、機器、および記憶媒体 | |
WO2022253074A1 (zh) | 一种数据处理方法及相关设备 | |
US20240020541A1 (en) | Model training method and apparatus | |
CN112163601A (zh) | 图像分类方法、系统、计算机设备及存储介质 | |
CN113449859A (zh) | 一种数据处理方法及其装置 | |
CN113240079A (zh) | 一种模型训练方法及装置 | |
CN115221846A (zh) | 一种数据处理方法及相关设备 | |
CN111898636A (zh) | 一种数据处理方法及装置 | |
US20220374678A1 (en) | Method for determining pre-training model, electronic device and storage medium | |
JP2023531759A (ja) | 車線境界線検出モデルの訓練方法、車線境界線検出モデルの訓練装置、電子機器、記憶媒体及びコンピュータプログラム | |
CN117058402B (zh) | 一种基于3d稀疏卷积的实时点云分割方法及装置 | |
CN114792097B (zh) | 预训练模型提示向量的确定方法、装置及电子设备 | |
WO2021129410A1 (zh) | 文本处理方法及装置 | |
CN116051633B (zh) | 一种基于加权关系感知的3d点云目标检测方法及装置 | |
CN116977820B (zh) | 一种基于自注意力的轻量化三维目标实时检测方法及装置 | |
CN117372983B (zh) | 一种低算力的自动驾驶实时多任务感知方法及装置 | |
JP7495543B2 (ja) | 事前トレーニングモデルのプロンプトベクトルの決定方法、装置及び電子機器 | |
CN117743413A (zh) | 电网自动化系统的运行状态确定方法、装置和计算机设备 | |
CN116933859A (zh) | 一种视觉Transformer的动态剪枝方法 | |
CN117350331A (zh) | 一种模型训练方法及相关设备 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CB03 | Change of inventor or designer information |
Inventor after: Xie Tao Inventor after: Wang Li Inventor after: Dai Kun Inventor after: Jiang Zhiqiang Inventor after: Zhao Xuzuo Inventor after: Xu Dazhong Inventor before: Zhang Xinyu Inventor before: Xie Tao Inventor before: Wang Li Inventor before: Dai Kun Inventor before: Jiang Zhiqiang Inventor before: Zhao Xuzuo Inventor before: Xu Dazhong |