公开(公告)号：US20250069245A1

公开(公告)日：2025-02-27

申请号：US18518959

申请日：2023-11-25

Applicant: ZHEJIANG LAB

Inventor： Qibo QIU ,  Wei HUA ,  Haiming GAO

IPC: G06T7/55 ,  G06T3/40 ,  G06T7/70 ,  G06T7/80 ,  G06V10/44

Abstract: A monocular image depth estimation method and apparatus, and a computer device are provided. The method includes: obtaining a first depth map of a to-be-estimated image; obtaining a dynamic point set and a first pose transformation result of a to-be-estimated millimeter-wave point cloud; obtaining a second depth map of a latter frame of the to-be-estimated image; calculating a projection error between a first depth map and the second depth map of the latter frame of the to-be-estimated image; obtaining a second pose transformation result of the to-be-estimated millimeter-wave point cloud; obtaining a pose estimation error; calculating a depth error of a moving object in two frames of the to-be-estimated image; and obtaining an overall training loss, obtaining a complete depth estimation model, and performing monocular image depth estimation on the to-be-estimated image.

公开(公告)号：US20250036628A1

公开(公告)日：2025-01-30

申请号：US18527875

申请日：2023-12-04

Applicant: ZHEJIANG LAB

Inventor： Wei HUA ,  Qibo QIU ,  Jin SHI ,  Haiming GAO

IPC: G06F16/2455 ,  G06F16/28

Abstract: A point cloud matching method and apparatus, an electronic apparatus, and a storage medium are provided. The point cloud matching method includes: dividing a to-be-matched point cloud into a plurality of matched point cloud patches, and inputting the plurality of matched point cloud patches to a pre-trained point cloud feature coding module to obtain feature vectors of the plurality of matched point cloud patches; and acquiring a global description vector of the to-be-matched point cloud according to the feature vectors of the plurality of matched point cloud patches, matching the global description vector of the to-be-matched point cloud with global description vectors of point cloud frames in a preset historical database, and determining a point cloud frame in the historical database within a preset matching threshold range to be a point cloud matching result.