An apparatus includes a memory and processing circuitry in communication with the memory. The processing circuitry is configured to apply, based on a positional encoding model, a first feature conditioning module to a set of bird's eye view (BEV) position data features corresponding to position data to generate a set of conditioned BEV position data features, and apply, based on the position encoding model, a second feature conditioning module to a set of perspective image data features corresponding to image data to generate a set of conditioned perspective image data features. The processing circuitry is also configured to generate, based on the positional encoding model, the set of conditioned BEV position data features, and the set of conditioned perspective image data features, a weighted summation. Additionally, the processing circuitry is configured to generate, based on the weighted summation, a set of BEV image data features.


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    Title :

    IMAGE AND LIDAR ADAPTIVE TRANSFORMER FOR FUSION-BASED PERCEPTION



    Publication date :

    2025-02-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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