PALF: Pre-Annotation and Camera-LiDAR Late Fusion for the Easy Annotation of Point Clouds

Zhang Yucheng; Fukuda Masaki; Ishii Yasunori; Oshima Kyoko; Yamashita Takayoshi

Summary

International Conference on Machine Vision Applications

2023

Session Number:P1

Session:

Number:P1-16

PALF: Pre-Annotation and Camera-LiDAR Late Fusion for the Easy Annotation of Point Clouds

Zhang Yucheng, Fukuda Masaki, Ishii Yasunori, Oshima Kyoko, Yamashita Takayoshi,

pp.-

Publication Date:2023/07/23

Online ISSN:2188-5079

DOI:10.34385/proc.78.P1-16

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Summary:

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are data-driven and require large amounts of annotated point cloud data for training and evaluation. Unlike 2D image labels, annotating point cloud data is difficult due to the limitations of sparsity, irregularity, and low resolution, which requires more manual work, and the annotation efficiency is much lower than 2D image. Therefore, we propose an annotation algorithm for point cloud data, which is pre-annotation and camera–LiDAR late fusion algorithm to annotate easily and accurately.