The embodiment of the invention discloses an obstacle information fusion method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: acquiring a road image sequence; generating an obstacle pose information sequence set according to the road image sequence and an obstacle detection model; the method comprises the following steps: generating obstacle detection result similarity according to any two obstacle pose information sequences; in response to determining that the obstacle detection result similarity is greater than a preset threshold value, executing the following steps for each obstacle pose information sequence: generating a previous moment fusion similarity according to the obstacle pose information sequence; in response to determining that the fusion similarity at the previous moment is smaller than or equal to a preset threshold value, determining the obstacle pose information sequence as a to-be-fused obstacle pose information sequence; and according to each to-be-fused obstacle pose information sequence, determining obstacle fusion pose information. According to the embodiment, the accuracy of obstacle fusion information and the safety of vehicle driving are improved.

    本公开的实施例公开了障碍物信息融合方法、装置、电子设备和计机可读介质。该方法的一具体实施方式包括:获取道路图像序列;根据道路图像序列和障碍物检测模型,生成障碍物位姿信息序列集;执行以下步骤:根据任意两个障碍物位姿信息序列,生成障碍物检测结果相似度;响应于确定障碍物检测结果相似度大于预设阈值,对于每个障碍物位姿信息序列,执行以下步骤:根据障碍物位姿信息序列,生成前一时刻融合相似度;响应于确定前一时刻融合相似度小于等于预设阈值,将障碍物位姿信息序列确定为待融合障碍物位姿信息序列;根据各个待融合障碍物位姿信息序列,确定障碍物融合位姿信息。该实施方式提高了障碍物融合信息的正确率和车辆行驶的安全性。


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    Title :

    Obstacle information fusion method and device, electronic equipment and computer readable medium


    Additional title:

    障碍物信息融合方法、装置、电子设备和计算机可读介质


    Contributors:
    LI MIN (author) / ZHANG XIONG (author) / LONG WEN (author) / HU YUCHAO (author) / WEI JINGWEN (author) / LIU ZHIRUI (author) / AI YONGJUN (author) / WANG QIAN (author) / SHEN MIAO (author)

    Publication date :

    2022-12-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06V




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