3D SEMANTIC SEGMENTATION METHOD AND COMPUTER PROGRAM RECORDED ON RECORDING MEDIUM TO EXECUTE THE SAME
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United States of America
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Jan 9, 2025
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Jun 4, 2024
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Jun 4, 2024
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Abstract
The present invention proposes a 3D semantic segmentation method for performing 3D semantic segmentation on the basis of fusion data obtained through sensor fusion of cameras and LiDAR. The method may include the steps of: receiving an image photographed by a camera and point cloud data acquired from LiDAR, by a learning data generation device; generating a projection image expressing the point cloud data in polar coordinates of a size the same as those of the image, by the learning data generation device; and inputting the image and the projection image into an artificial intelligence (AI) machine-learned in advance to estimate a 2D segment map and a 3D segment map having dimensions as high as the number of types of classes to be predicted, by the learning data generation device.
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