FR3125150B1 - Procédé d’étiquetage d’une image 3D - Google Patents

Procédé d’étiquetage d’une image 3D Download PDF

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Publication number
FR3125150B1
FR3125150B1 FR2107380A FR2107380A FR3125150B1 FR 3125150 B1 FR3125150 B1 FR 3125150B1 FR 2107380 A FR2107380 A FR 2107380A FR 2107380 A FR2107380 A FR 2107380A FR 3125150 B1 FR3125150 B1 FR 3125150B1
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FR
France
Prior art keywords
image
interest
zone
delimiting
pixels
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
Application number
FR2107380A
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English (en)
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FR3125150A1 (fr
Inventor
Lucien Garcia
Thomas Meneyrol
Spencer Danne
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive France SAS
Original Assignee
Continental Automotive France SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Automotive France SAS filed Critical Continental Automotive France SAS
Priority to FR2107380A priority Critical patent/FR3125150B1/fr
Priority to CN202280048444.5A priority patent/CN117677985A/zh
Priority to PCT/EP2022/068379 priority patent/WO2023280745A1/fr
Publication of FR3125150A1 publication Critical patent/FR3125150A1/fr
Application granted granted Critical
Publication of FR3125150B1 publication Critical patent/FR3125150B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H04N13/117—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation the virtual viewpoint locations being selected by the viewers or determined by viewer tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20101—Interactive definition of point of interest, landmark or seed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20104—Interactive definition of region of interest [ROI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/004—Annotating, labelling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

Procédé d’étiquetage d’une image 3D (I2) d’une scène acquise par un capteur 3D comprenant :- la réception : d’une image 2D (I1) de la même scène acquise par une caméra, des coordonnées, sur l’image 2D, d’un ensemble de pixels (PZ1) délimitant la zone d’intérêt (Z1), et d’un point de référence (PR) appartenant à la zone d’intérêt (Z1), etla détermination de la profondeur du point de référence (pr) dans un repère associé à la caméra, - l’attribution aux pixels délimitant la zone d’intérêt (Z1) sur l’image 2D (I1) d’une profondeur correspondant à la profondeur du point de référence (pr), - le calcul des coordonnées, dans l’image 3D (I2), des pixels (PZ2) délimitant la zone d’intérêt (Z2) à partir des coordonnées des pixels (PZ1) délimitant la zone d’intérêt (Z1) dans l’image 2D (I1) et de la profondeur (pr) attribuée aux pixels délimitant la zone d’intérêt. Figure de l’abrégé : Figure 1
FR2107380A 2021-07-08 2021-07-08 Procédé d’étiquetage d’une image 3D Active FR3125150B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2107380A FR3125150B1 (fr) 2021-07-08 2021-07-08 Procédé d’étiquetage d’une image 3D
CN202280048444.5A CN117677985A (zh) 2021-07-08 2022-07-04 用于标记对极投影3d图像的方法
PCT/EP2022/068379 WO2023280745A1 (fr) 2021-07-08 2022-07-04 Procede d'etiquetage d'une image 3d sur base de projection épipolaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2107380A FR3125150B1 (fr) 2021-07-08 2021-07-08 Procédé d’étiquetage d’une image 3D
FR2107380 2021-07-08

Publications (2)

Publication Number Publication Date
FR3125150A1 FR3125150A1 (fr) 2023-01-13
FR3125150B1 true FR3125150B1 (fr) 2023-11-17

Family

ID=77021645

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2107380A Active FR3125150B1 (fr) 2021-07-08 2021-07-08 Procédé d’étiquetage d’une image 3D

Country Status (3)

Country Link
CN (1) CN117677985A (fr)
FR (1) FR3125150B1 (fr)
WO (1) WO2023280745A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150172715A1 (en) * 2012-07-09 2015-06-18 Nippon Telegraph And Telephone Corporation Picture encoding method, picture decoding method, picture encoding apparatus, picture decoding apparatus, picture encoding program, picture decoding program, and recording media
FR3052582B1 (fr) * 2016-06-14 2018-07-06 Continental Automotive France Procede et dispositif de traitement d'images acquises par une camera d'un vehicule automobile
FR3083352B1 (fr) * 2018-06-29 2020-06-05 Continental Automotive France Procede et dispositif de detection rapide de structures repetitives dans l'image d'une scene routiere
DE112019006468T5 (de) * 2018-12-28 2021-10-14 Nvidia Corporation Erkennung des abstands zu hindernissen bei anwendungen mit autonomen maschinen

Also Published As

Publication number Publication date
CN117677985A (zh) 2024-03-08
WO2023280745A1 (fr) 2023-01-12
FR3125150A1 (fr) 2023-01-13

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