公开(公告)号：US20200219264A1

公开(公告)日：2020-07-09

申请号：US16734752

申请日：2020-01-06

Applicant: QUALCOMM Incorporated

Inventor： Christopher BRUNNER ,  Radhika Dilip GOWAIKAR ,  Fu-Chun YEH ,  Michael Joshua SHOMIN ,  John Anthony DOUGHERTY ,  Jayakrishnan UNNIKRISHNAN

IPC: G06T7/11 ,  G06T7/20 ,  G06T7/194 ,  G06T7/70

Abstract: Disclosed are techniques for annotating image frames using information from a light detection and ranging (LiDAR) sensor. An exemplary method includes receiving, from the LiDAR sensor, at least one LiDAR frame, receiving, from a camera sensor, at least one image frame, removing LiDAR points that represent a ground surface of the environment, identifying LiDAR points of interest in the at least one LiDAR frame, segmenting the LiDAR points of interest to identify at least one object of interest in the at least one LiDAR frame, and annotating the at least one image frame with a three-dimensional oriented bounding box of the at least one object of interest detected in the at least one image frame by projecting the three-dimensional oriented bounding boxes from the at least one LiDAR frame to the at least one image frame using cross-calibration transforms between the LiDAR sensor and the camera.