The invention discloses road geometry estimation for a vehicle. Methods and aspects of determining a representation of a road object of a road for a vehicle are disclosed. The method comprises; encoding, for each of the plurality of consecutive time steps, an image output from a camera of the vehicle using a machine learning algorithm trained to output image features of the road object depicted in the image; converting a plurality of image features included in the encoded image into an aerial view BEV representation of the plurality of image features; decoding the bird's-eye view representation to extract an object embedding from the BEV representation using a converter-based machine learning algorithm trained to output the object embedding based on inputs including the BEV representation, the object query, and a transformed priori object embedding extracted at a previous time step; the location and category of each of the road objects are output by decoding the extracted object embedding.
公开了用于车辆的道路几何估计。具体地,公开了为车辆确定道路的道路对象的表示的方法和方面。方法包括;对于多个连续的时间步中的每个时间步,使用机器学习算法对从车辆的相机输出的图像进行编码,器学习算法被训练为输出在图像中描绘的道路对象的图像特征;将编码后的图像中包括的多个图像特征转换为多个图像特征的鸟瞰图BEV表示;对鸟瞰图表示进行解码,以便使用基于转换器的机器学习算法从BEV表示中提取对象嵌入,基于转换器的机器学习算法被训练为基于包括BEV表示、对象查询和在先前时间步提取的变换后的先验对象嵌入的输入来输出对象嵌入;通过对所提取的对象嵌入进行解码来输出道路对象中的每个道路对象的位置和类别。
Road geometry estimation for vehicles
用于车辆的道路几何估计
2025-03-11
Patent
Electronic Resource
Chinese
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