THREE-DIMENSIONAL POINT CLOUD LABEL LEARNING DEVICE, THREE-DIMENSIONAL POINT CLOUD LABEL ESTIMATION DEVICE, THREE-DIMENSIONAL POINT CLOUD LABEL LEARNING METHOD, THREE-DIMENSIONAL POINT CLOUD LABEL ESTIMATION METHOD, AND PROGRAM

摘要

To label a point that makes up a target regardless of the type of target for a large point cloud with no limit on a range or score.SOLUTION: A three-dimensional point cloud label learning device 10A includes a ground height calculation unit for outputting a three-dimensional point cloud with a ground height as an inputted three-dimensional point cloud and ground height; an intensity-RGB transform unit for outputting the three-dimensional point cloud with the Intensity-RGB converted ground height using the ground height of the three-dimensional point cloud as the input; a super voxel clustering Unit for outputting a super voxel data with correct label with the Intensity-RGB converted ground height three-dimensional point cloud, learning point cloud label, and clustering hyperparameter as inputs; and a deep neural network learning unit for outputting learned deep neural network parameters using super voxel data and deep neural network hyper parameters with correct labels as inputs.SELECTED DRAWING: Figure 2