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METHOD FOR GENERATION OF AN AUGMENTED POINT CLOUD WITH POINT FEATURES FROM AGGREGATED TEMPORAL 3D COORDINATE DATA, AND RELATED DEVICE
METHOD FOR GENERATION OF AN AUGMENTED POINT CLOUD WITH POINT FEATURES FROM AGGREGATED TEMPORAL 3D COORDINATE DATA, AND RELATED DEVICE
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机译:具有聚合时间3D坐标数据的点特征的增强点云的方法,以及相关设备
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摘要
A method for generation of an augmented point cloud with point features from aggregated 3D coordinate data and related device. The method comprises receiving a current point cloud in the form of 3D coordinate data in ego coordinates from one or more detection and ranging (DAR) devices of a vehicle. Features are extracted from the current point cloud. A previous point cloud is transformed into ego coordinates using a current location of the vehicle. Each point in the previous point cloud is transformed to align with a corresponding point in the current point cloud to generate a transformed point cloud. The current point cloud is aggregated with the transformed point cloud to generate an aggregated point cloud. The current point features are aggregated with the point features of the transformed point cloud to generate aggregated point features.
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