The invention discloses a vehicle control method and device based on three-dimensional scene representation. The method comprises the following steps: acquiring image data and point cloud data acquired by a three-dimensional image acquisition device and a laser radar arranged on a vehicle; fusing the image data and the point cloud data to generate a three-dimensional scene representation with color information and depth information; performing instance segmentation on the three-dimensional scene representation, and segmenting different objects in the three-dimensional scene representation into different instances to determine basic information of each object; performing key point detection on the three-dimensional scene representation to detect key points of different objects in the three-dimensional scene representation so as to determine key information of each key point; and transmitting the three-dimensional scene representation after instance segmentation and key point detection to a vehicle controller to control the vehicle. According to the invention, the problem of low safety during vehicle control caused by low vehicle sensing accuracy in the prior art is solved.
本发明公开了一种基于三维场景表示的车辆控制方法及装置,该方法包括:获取布置于车辆上的立体图像采集装置和激光雷达采集到的图像数据和点云数据;对图像数据和点云数据进行融合,生成具有颜色信息和深度信息的三维场景表示;对三维场景表示进行实例分割,将三维场景表示中的不同物体分割成不同的实例,以确定每个物体的基础信息;对三维场景表示进行关键点检测,以将三维场景表示中的不同物体的关键点检测出来,以确定每个关键点的关键信息;将实例分割以及关键点检测后的三维场景表示传输给车辆控制器,以对车辆进行控制。本发明解决了现有技术中由于车辆感知准确性低,从而造成在进行车辆控制时安全性低的问题。
Vehicle control method and device based on three-dimensional scene representation
一种基于三维场景表示的车辆控制方法及装置
2023-10-31
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 |
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