Aspects of the disclosure relate to controlling a vehicle. For example, using a camera, a first camera image including a first object may be captured. A first bounding box of the first object and a distance to the first object may be identified. A second camera image including a second object may be captured. A second bounding box of the second image and a distance to the second object may be identified. Visual similarities of the two bounding boxes may be compared using a plurality of models, comparing a three-dimensional position based on a distance to the first object and a three-dimensional position based on a distance to the second object, and comparing results from the first model and the second model to determine whether the first object is the second object. The vehicle may be controlled in an autonomous driving mode based on a result of the third model.
本公开的方面涉及控制车辆。例如,使用相机,可以捕获包括第一对象的第一相机图像。可以识别第一对象的第一边界框和到第一对象的距离。可以捕获包括第二对象的第二相机图像。可以识别第二图像的第二边界框和到第二对象的距离。可以使用多个模型比较两个边界框的视觉相似性,比较基于到第一对象的距离的三维位置和基于到第二对象的距离的三维位置,以及比较来自第一模型和第二模型的结果,来确定第一对象是否是第二对象。可以基于第三模型的结果在自主驾驶模式下控制车辆。
Remote object detection, localization, tracking and classification for autonomous vehicles
自主车辆的远程对象检测、定位、跟踪和分类
2022-11-15
Patent
Electronic Resource
Chinese
IPC: | 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 |
Detection, Classification, and Tracking of Objects for Autonomous Vehicles
British Library Conference Proceedings | 2019
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