The invention provides an environment sensing method and device and an unmanned vehicle, and relates to the technical field of automatic driving. The environment perception method comprises the following steps: acquiring point cloud data and image data of a target environment; performing aerial view angle projection on the point cloud data to obtain an aerial view corresponding to the point cloud data; performing multi-stage extraction and fusion processing on the aerial view and the image data to obtain a fusion feature map corresponding to each stage in the multiple stages; and determining a perception result of the target environment according to the fusion feature map corresponding to each of the multiple stages. By means of the method, the fusion effect of cross-modal information can be improved, and then the environmental perception effect is improved.
本公开提出了一种环境感知方法、装置和无人车,涉及自动驾驶技术领域。其中,环境感知方法包括:获取目标环境的点云数据和图像数据;对所述点云数据进行鸟瞰视角投影,以得到所述点云数据对应的鸟瞰图;对所述鸟瞰图和所述图像数据进行多阶段的提取与融合处理,以得到与所述多阶段中的每个阶段对应的融合特征图;根据与所述多阶段中的每个阶段对应的融合特征图,确定所述目标环境的感知结果。通过以上方法,能够提高跨模态信息的融合效果,进而提高环境感知效果。
Environment sensing method and device and unmanned vehicle
环境感知方法、装置和无人车
02.07.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Europäisches Patentamt | 2024
|Unmanned aerial vehicle assisted environment state sensing and data collecting method
Europäisches Patentamt | 2024
|Environment sensing terminal for plant protection unmanned aerial vehicle
Europäisches Patentamt | 2021
|Depth sensing method for unmanned engineering vehicle in complex working environment
Europäisches Patentamt | 2023
|