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公开(公告)号：US20210270613A1
公开(公告)日：2021-09-02
申请号：US16806445
申请日：2020-03-02
Inventor： Shenhua HOU , Wendong DING , Hang GAO , Guowei WAN , Shiyu SONG
IPC: G01C21/32
Abstract: The present disclosure provides a method, an apparatus, a computing device and a computer readable storage medium for detecting an environmental change, and relates to the field of autonomous driving. The method obtains a global map for an area and a first local map built in real time for a sub-area in the area; and determines an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change. Techniques of the present disclosure can automatically detect environmental changes that affect the positioning of autonomous driving, thereby facilitating the updating of positioning maps.
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212.发明申请公开(公告)号：US20210270612A1
公开(公告)日：2021-09-02
申请号：US16806442
申请日：2020-03-02
Inventor： Shenhua HOU , Wendong DING , Hang GAO , Guowei WAN , Shiyu SONG
Abstract: The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains point cloud data collected by a LiDAR on a device at a current time; determines, based on the point cloud data and a global map built in a global coordinate system, global positioning information of the device in the global coordinate system at the current time; and determine, based on the point cloud data and a local map built in a local coordinate system, local positioning information of the device in the local coordinate system at the current time. A positioning result of the device at the current time is determined based on at least the global positioning information and the local positioning information. Techniques of the present disclosure can provide an effective and stable positioning service.
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213.发明申请公开(公告)号：US20210264197A1
公开(公告)日：2021-08-26
申请号：US17184363
申请日：2021-02-24
Inventor： Weixin Lu , Guowei Wan , Li Yu , Liang Peng , Shiyu Song
Abstract: The present disclosure provides a point cloud data processing method, apparatus, electronic device and computer readable storage medium, which relates to computer vision technology and may be used for autonomous driving. A specific implementation solution is as follows: obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points; according to the at least one first key point and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points; according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the at least one first key point and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point; determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.
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公开(公告)号：US20210264190A1
公开(公告)日：2021-08-26
申请号：US17206351
申请日：2021-03-19
Inventor： Xiameng Qin , Yulin Li , Ju Huang , Qunyi Xie , Junyu Han
IPC: G06K9/46 , G06K9/62 , G06F40/211 , G06F16/53
Abstract: The present application discloses an image questioning and answering method, apparatus, device and storage medium, relating to the technical field of image processing, computer vision, deep learning and natural language processing. The specific implementation solution is as follows: constructing a question graph with a topological structure and extracting a question feature of a query sentence, according to the query sentence; constructing a visual graph with a topological structure and a text graph with a topological structure according to a target image corresponding to the query sentence; performing fusion on the visual graph, the text graph and the question graph by using a fusion model, to obtain a final fusion graph; and determining reply information of the query sentence according to a reasoning feature extracted from the final fusion graph and the question feature.
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公开(公告)号：US20210264155A1
公开(公告)日：2021-08-26
申请号：US17248898
申请日：2021-02-12
Inventor： Zhaohu LI
Abstract: The disclosure provides a visual positioning method and apparatus, an electronic device and a computer-readable storage medium. The method includes: generating a semantic graph by semantically identifying collected images; determining description information of each entity through a random walk algorithm in the established semantic graph; determining candidate entities matching each entity in a preset entity map based on the description information; and positioning a collection area of the current image based on an area where the candidate entities are located in the preset entity map. The description information of each entity node constructed with the random walk algorithm not only contains semantic information of the corresponding node, but also local constraint information between semantics.
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Patent Agency Ranking
公开(公告)号：US20210263159A1
公开(公告)日：2021-08-26
申请号：US17251169
申请日：2019-12-17
Applicant: Beijing Baidu Netcom Science and Technology Co., Ltd. Beijing Baidu Netcom Science and Technology
Inventor： Xiaoxing ZHU , Xiang LIU , Fan YANG
Abstract: The present disclosure provides an information processing method, system, device and computer storage medium. The method comprises obtaining obstacle information acquired by an ultrasonic radar and a LiDAR respectively; fusing the obstacle information acquired by the LiDAR with the obstacle information acquired by the ultrasonic radar. The present disclosure avoids the problem that whether there is an obstacle laterally in front of or directly in front of the vehicle cannot be judged only according to the obstacle information returned by the ultrasonic radar, so that the driverless vehicle will stop automatically to avoid collision and its normal drive is affected, improves the obstacle recognition precision and ensures safe and stable drive of the driverless vehicle.
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公开(公告)号：US20210261141A1
公开(公告)日：2021-08-26
申请号：US17251168
申请日：2019-12-17
Inventor： Ning YU , Fan YANG , Chengfa WANG , Gaifan LI
IPC: B60W40/09 , G06K9/00 , B60W40/105 , B60W40/107 , B60W40/06
Abstract: The present disclosure provides a data acquisition method, apparatus, device and computer readable storage medium. According to the embodiments of the present disclosure, determination is made as to whether a preset stable driving condition is met based on acquired driving scene data of the driving scene where the vehicle is currently located, and acquired driving behavior data; if the preset stable driving condition is met, the driving scene data and the driving behavior data are acquired at a frequency lower than a preset sampling frequency. As a result, it is possible to reduce data redundancy in similar scenes and similar diving modes, reduce the amount of data, reduce occupation of the storage resources and transmission resources and facilitate subsequent analysis, and it is possible to implement the dynamic acquisition of driving scene data and driving behavior data by scenes and modes.
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218.发明申请公开(公告)号：US20210258580A1
公开(公告)日：2021-08-19
申请号：US17239181
申请日：2021-04-23
Inventor： Le Shi , Wenpeng Ding
IPC: H04N19/124 , H04N19/463 , H04N19/184
Abstract: The present disclosure discloses a method and apparatus for coding a video, an electronic device and a computer-readable storage medium. A specific implementation scheme is: coding a sampled video frame sequence of a source video by using a preset coding mode to obtain a sample coding overhead; analyzing frame types of frames to be coded in the source video to obtain a frame type sequence of the frames to be coded; determining a predictive coding overhead of the source video according to the sample coding overhead of the source video, the frame type sequence of the frames to be coded, and quantization parameters of coding modes to be used corresponding to different frame types; and determining a coding strategy based on the predictive coding overhead and requirements of transmission bit rate limit information.
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公开(公告)号：US20210256556A1
公开(公告)日：2021-08-19
申请号：US17215635
申请日：2021-03-29
Inventor： Guang LI , Quanxiang WANG , Bin HU
Abstract: A method, apparatus, electronic device and storage medium for pushing an advertisement are provided. An implementation of the method may include: acquiring a to-be-pushed advertisement in an advertisement docking system; pushing the to-be-pushed advertisement to a user selected by a current user through a social platform; and in response to the user selected by the current user performing a predetermined operation on the to-be-pushed advertisement, receiving, from a settlement profit sharing system, an advertisement pushing revenue generated based on the predetermined operation.
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公开(公告)号：US20210256199A1
公开(公告)日：2021-08-19
申请号：US17306422
申请日：2021-05-03
Inventor： Zheng Jia
Abstract: The present disclosure discloses display verification method and apparatus for a browser, the method includes: providing the browser with image drawing data matching with a browser request page; in which the browser locally draws a display image included in the browser request page after the image drawing data is provided to the browser; acquiring a browser drawing image corresponding to the image drawing data; and performing display verification on the browser according to the browser drawing image and a standard drawing image matching with the image drawing data.
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