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公开(公告)号：EP4345417A3
公开(公告)日：2024-05-29
申请号：EP23184310.3
申请日：2023-07-07
发明人： YANG, Yunchen , LIU, Weijun , SUN, Jiaming , WANG, Naiyan
CPC分类号： G01C21/188 , G01C21/1652 , G01C21/1656 , G06V20/58 , G01S2013/932320200101 , G01S15/931 , G01S2013/932420200101 , G01S2013/9318520200101 , G01S17/931 , G01S2013/931820200101 , G01S2013/931920200101 , G01S13/931 , G01S13/874 , G01S13/865 , G01S13/862 , G01S13/89 , G01S15/89 , G01S17/89 , G01S13/91 , G01S7/003
摘要： The present disclosure relates to a method for state estimation of a target comprising: obtaining an observation variable of the target at different moments through a plurality of sensors, wherein at least one observation variable is acquired by each sensor; determining a state variable of the target at different moments based on the observation variable; and optimizing the state variable of the target by minimizing a loss function. The loss function includes at least one of a position loss, an orientation loss, a velocity loss, a size loss, or a structural constraint of the target. The method of the present disclosure may obtain a sufficiently accurate state estimate. In addition, an apparatus, an electronic device, and a medium for state estimation of the target are also provided.
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公开(公告)号：EP4336466A3
公开(公告)日：2024-05-29
申请号：EP23193859.8
申请日：2023-08-29
发明人： LI, Zhichao , WANG, Naiyan
IPC分类号： G06V20/58
CPC分类号： G06V20/58
摘要： Disclosed are a method and apparatus for modeling an object, a storage medium, and a vehicle control method. The method for modeling an object includes obtaining a point cloud associated with surroundings acquired by a perception system so that points corresponding to each part of the object are respectively recognized from the point cloud, and then corresponding representations are respectively generated for the object wholly and each part thereof. As such, the object is modeled and the modeling precision is improved, whereby a movement state of the object may be accurately determined.
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公开(公告)号：EP4345417A2
公开(公告)日：2024-04-03
申请号：EP23184310.3
申请日：2023-07-07
发明人： YANG, Yunchen , LIU, Weijun , SUN, Jiaming , WANG, Naiyan
摘要： The present disclosure relates to a method for state estimation of a target comprising: obtaining an observation variable of the target at different moments through a plurality of sensors, wherein at least one observation variable is acquired by each sensor; determining a state variable of the target at different moments based on the observation variable; and optimizing the state variable of the target by minimizing a loss function. The loss function includes at least one of a position loss, an orientation loss, a velocity loss, a size loss, or a structural constraint of the target. The method of the present disclosure may obtain a sufficiently accurate state estimate. In addition, an apparatus, an electronic device, and a medium for state estimation of the target are also provided.
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公开(公告)号：EP4307244A1
公开(公告)日：2024-01-17
申请号：EP23184287.3
申请日：2023-07-07
发明人： YANG, Yunchen , LIU, Weijun , SUN, Jiaming , WANG, Naiyan
摘要： The present disclosure relates to a method for target state estimation comprising: acquiring a data frame sequence corresponding to a plurality of moments; determining a first time window based on the data frame sequence, the first time window comprising a first set of state variables to be optimized; determining a plurality of second time windows within the first time window, wherein the number of data frames corresponding to each second time window is less than the number of data frames corresponding to the first time window, there is at least one same data frame in two adjacent second time windows, and there is a second set of state variables to be optimized; and optimizing the second set of state variables in the plurality of second time windows to obtain an optimized first set of state variables. The method of the present disclosure may obtain sufficiently accurate state estimation.
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公开(公告)号：EP4131167A1
公开(公告)日：2023-02-08
申请号：EP22186649.4
申请日：2022-07-25
发明人： LI, Hongyang , HUANG, Zehao , WANG, Naiyan
IPC分类号： G06T7/593
摘要： Embodiments of the present invention disclose a binocular image matching method, apparatus, device, and storage medium. The method comprises: performing target detection on a first image to obtain a first bounding box of a target in the first image; determining a second bounding box corresponding to the first bounding box in a second image; and obtaining a third bounding box of the target in the second image by regressing the second bounding box. The technical solutions realize accurate matching of targets in a binocular image without requiring performing target detection on both images in the binocular image, and then use a matching algorithm to match the targets detected in the two images, thereby greatly reducing the calculation overhead of target matching in the binocular image.
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公开(公告)号：EP4083943A1
公开(公告)日：2022-11-02
申请号：EP22164920.5
申请日：2022-03-29
发明人： SHEN, Zhenwei , HUANG, Zehao , WANG, Naiyan
IPC分类号： G06V20/56
摘要： The present application relates to a method and an apparatus for detecting lane lines, an electronic device and a storage medium. The method comprises: acquiring an image to be detected; determining at least one initial point in the image; extracting a position characteristic of at least one initial point; processing the position characteristic of the at least one initial point by using a first network model to obtain trend information of a corresponding lane line; and generating a target lane line containing the at least one initial point according to the trend information. In the present application, a network model is used to process a position characteristic of an initial point to obtain trend information of the lane line, and a complete lane line of the road image is quickly generated according to the trend information.
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公开(公告)号：EP4336467A1
公开(公告)日：2024-03-13
申请号：EP23193861.4
申请日：2023-08-29
发明人： LI, Zhichao , WANG, Naiyan
IPC分类号： G06V20/58
摘要： The present disclosure provides a method and apparatus for modeling an object. The method includes: obtaining a first group of point cloud frames associated with surroundings of a perception system; generating a hierarchical representation of an object in the surroundings based on the first group of point cloud frames; obtaining, from each frame of point cloud, a second group of point cloud frames associated with the surroundings, a group of points associated with the object and a first subset and a second subset of the group of points; determining, based on the first subset and the second subset, a first confidence and a second confidence; determining whether to change the hierarchical representation of the object based on the first confidence and the second confidence.
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公开(公告)号：EP4336466A2
公开(公告)日：2024-03-13
申请号：EP23193859.8
申请日：2023-08-29
发明人： LI, Zhichao , WANG, Naiyan
IPC分类号： G06V20/58
摘要： Disclosed are a method and apparatus for modeling an object, a storage medium, and a vehicle control method. The method for modeling an object includes obtaining a point cloud associated with surroundings acquired by a perception system so that points corresponding to each part of the object are respectively recognized from the point cloud, and then corresponding representations are respectively generated for the object wholly and each part thereof. As such, the object is modeled and the modeling precision is improved, whereby a movement state of the object may be accurately determined.
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公开(公告)号：EP4310789A1
公开(公告)日：2024-01-24
申请号：EP23184451.5
申请日：2023-07-10
发明人： FAN, Lue , WANG, Feng , WANG, Naiyan
摘要： The embodiments of the description provide a prediction method for a target object, a computer device, and a storage medium. The method includes: performing a voxelization processing on point cloud data to obtain a plurality of voxels, wherein the plurality of voxels correspond to a plurality of points in the point cloud data, and at least a portion of the plurality of voxels forms a voxel set; extracting a plurality of voxel features from the voxels in the voxel set; mapping the plurality of voxel features to a plurality of points included in the plurality of voxels, respectively, to obtain a plurality of point features of the plurality of points; and predicting, according to the plurality of point features, the target object.
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公开(公告)号：EP4250180A1
公开(公告)日：2023-09-27
申请号：EP23161861.2
申请日：2023-03-14
发明人： YUAN, Liuchun , HUANG, Zehao , WANG, Naiyan
IPC分类号： G06N3/045 , G06N3/082 , G06N3/09 , G06N3/0985
摘要： The present disclosure relates to a method and an apparatus for generating a neural network. The method for generating a neural network according to the present disclosure includes: training a plurality of neural networks for a plurality of performance parameters to obtain a plurality of parameter values for each performance parameter; training a plurality of neural network predictors based on the parameter values and the neural networks; and determining a target neural network using trained neural network predictors. According to the technique for generating a neural network herein, automatic searching for a network structure satisfying a preset constraint is enabled in a search space of network structures.
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