公开(公告)号：US20230118945A1

公开(公告)日：2023-04-20

申请号：US17975689

申请日：2022-10-28

申请人： Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

发明人： Wei GAO ,  Wendong DING ,  Guowei WAN ,  Liang PENG

IPC分类号： B60W60/00 ,  B60W50/00 ,  B60K35/00 ,  B60W40/10 ,  G06T7/50 ,  G06T7/73 ,  G01S17/89 ,  G01S17/86 ,  G01S7/48

摘要： A method of processing data for an autonomous vehicle, an electronic device, a storage medium, and an autonomous vehicle are provided. The method includes: acquiring sensor data for the autonomous vehicle, wherein the sensor data includes inertial measurement data, LiDAR data, and visual image data; determining a first constraint factor for the inertial measurement data according to the inertial measurement data and the visual image data; determining a second constraint factor for the LiDAR data according to the inertial measurement data and the LiDAR data; determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data and the LiDAR data; and processing the sensor data based on the first constraint factor, the second constraint factor and the third constraint factor, so as to obtain positioning data for positioning the autonomous vehicle.

公开(公告)号：US20230162474A1

公开(公告)日：2023-05-25

申请号：US18089709

申请日：2022-12-28

申请人： Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

发明人： Yuzhe HE ,  Yao ZHOU ,  Shenhua HOU ,  Liang PENG ,  Guowei WAN

IPC分类号： G06V10/75 ,  G06T7/73 ,  G06V10/46 ,  G06V10/764 ,  G06V10/77 ,  G06V10/80 ,  G06V10/774

CPC分类号： G06V10/757 ,  G06T7/74 ,  G06V10/46 ,  G06V10/764 ,  G06V10/774 ,  G06V10/806 ,  G06V10/7715 ,  G06T2207/20081

摘要： A method of processing an image, a method of training a multi-task processing model, and an electronic device, which relate to a field of an automatic driving technology, in particular to a field of high-definition map technology. The method of processing an image includes: processing a to-be-processed image to obtain a feature point of the to-be-processed image, a feature point descriptor map of the to-be-processed image, and a dense descriptor map of the to-be-processed image; determining a pair of matched feature points between the to-be-processed image and a reference image based on the feature point and the feature point descriptor map; and determining a pair of matched pixels between the to-be-processed image and the reference image based on the dense descriptor map.