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公开(公告)号：US11521370B2
公开(公告)日：2022-12-06
申请号：US17184363
申请日：2021-02-24
Inventor： Weixin Lu , Guowei Wan , Li Yu , Liang Peng , Shiyu Song
Abstract: The present disclosure provides a point cloud data processing method, apparatus, electronic device and computer readable storage medium, which relates to computer vision technology and may be used for autonomous driving. A specific implementation solution is as follows: obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points; according to the and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points; according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point; determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.
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公开(公告)号：US20210264197A1
公开(公告)日：2021-08-26
申请号：US17184363
申请日：2021-02-24
Inventor： Weixin Lu , Guowei Wan , Li Yu , Liang Peng , Shiyu Song
Abstract: The present disclosure provides a point cloud data processing method, apparatus, electronic device and computer readable storage medium, which relates to computer vision technology and may be used for autonomous driving. A specific implementation solution is as follows: obtaining a first feature vector of each point in first point cloud data, and determining at least one first key point in the points in the first point cloud data according to the first feature vectors of respective points; according to the at least one first key point and a preset first conversion parameter between second point cloud data and the first point cloud data, obtaining second key points of the second point cloud data corresponding to the first key points in the at least one first key point, as candidate matching points; according to the first point cloud data, the second point cloud data and a preset search radius, determining at least one first neighboring point of the at least one first key point and at least one second neighboring point of the candidate matching point corresponding to the at least one first key point; determining a matching point with which the at least one first key point is registered, according to the at least one first neighboring point of the at least one first key point and the at least one second neighboring point of the candidate matching points.
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公开(公告)号：US11748449B2
公开(公告)日：2023-09-05
申请号：US17105027
申请日：2020-11-25
Inventor： Yao Zhou , Guowei Wan , Shenhua Hou , Shiyu Song
IPC: G06V10/22 , G06F18/214 , G06N3/08 , G06F18/22 , G06F18/2415
CPC classification number: G06F18/2148 , G06F18/22 , G06F18/2415 , G06N3/08 , G06V10/22
Abstract: The present disclosure provides a data processing method, an apparatus, an electronic device and a medium, which relates to the technical fields of autonomous driving, electronic maps, deep learning, image processing, and the like. The method includes: a computing device inputs a reference image and a captured image into a feature extraction model; obtain, a set of reference descriptors based on the first descriptor map; determine a plurality of sets of training descriptors; obtain a predicted pose of the vehicle by inputting the plurality of training poses and a plurality of similarities into a pose prediction model; and train the feature extraction model and the pose prediction model. When applied to a vehicle localization system, the trained feature extraction model and pose prediction model according to some embodiments of the present disclosure can improve accuracy and robustness of vehicle localization, thereby boosting the performance of the vehicle localization system.
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公开(公告)号：US11448771B2
公开(公告)日：2022-09-20
申请号：US16814452
申请日：2020-03-10
Inventor： Renlan Cai , Wenjie Liu , Xiaotao Li , Pengfei Yuan , Liang Peng , Shiyu Song
Abstract: Embodiments of the present disclosure provide a method and apparatus for evaluating data, a device, and a computer-readable storage medium in the field of autonomous driving. The method may include: generating, at least based on satellite navigation data related to a vehicle, a reference position and posture data set of the vehicle; generating, at least based on a part of the satellite navigation data, a test position and posture data set of the vehicle, the accuracy of the test position and posture data set being lower than that of the reference position and posture data set; obtaining a revised position and posture data set for the test position and posture data set; and evaluating, based on the reference position and posture data set and the revised position and posture data set, a correction performance for the test position and posture data set.
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公开(公告)号：US11852751B2
公开(公告)日：2023-12-26
申请号：US16806442
申请日：2020-03-02
Inventor： Shenhua Hou , Wendong Ding , Hang Gao , Guowei Wan , Shiyu Song
CPC classification number: G01S7/4808 , G01C21/30 , G01S17/42 , G01S17/89 , G06F18/251
Abstract: The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains point cloud data collected by a LiDAR on a device at a current time; determines, based on the point cloud data and a global map built in a global coordinate system, global positioning information of the device in the global coordinate system at the current time; and determine, based on the point cloud data and a local map built in a local coordinate system, local positioning information of the device in the local coordinate system at the current time. A positioning result of the device at the current time is determined based on at least the global positioning information and the local positioning information. Techniques of the present disclosure can provide an effective and stable positioning service.
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Patent Agency Ranking
6.发明授权公开(公告)号：US11830207B2
公开(公告)日：2023-11-28
申请号：US17206999
申请日：2021-03-19
Inventor： Li Yu , Weixin Lu , Guowei Wan , Liang Peng , Shiyu Song
Abstract: A method, an electronic device and a readable storage medium for point cloud data processing, which may be used for autonomous driving, are disclosed. The feature vectors of respective points in the first point cloud data and second point cloud data are pre-learned, and thus the feature vectors of the first key points may be determined directly based on the learnt second feature vectors of respective first neighboring points of the respective first key points in the first point cloud data, and the feature vectors of the candidate key points may be determined directly based on the learnt third feature vectors of the respective second neighboring points of respective candidate key points in the second point cloud data corresponding to the first key points.
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公开(公告)号：US20210072404A1
公开(公告)日：2021-03-11
申请号：US16814452
申请日：2020-03-10
Inventor： Renlan Cai , Wenjie Liu , Xiaotao Li , Pengfei Yuan , Liang Peng , Shiyu Song
Abstract: Embodiments of the present disclosure provide a method and apparatus for evaluating data, a device, and a computer-readable storage medium in the field of autonomous driving. The method may include: generating, at least based on satellite navigation data related to a vehicle, a reference position and posture data set of the vehicle; generating, at least based on a part of the satellite navigation data, a test position and posture data set of the vehicle, the accuracy of the test position and posture data set being lower than that of the reference position and posture data set; obtaining a revised position and posture data set for the test position and posture data set; and evaluating, based on the reference position and posture data set and the revised position and posture data set, a correction performance for the test position and posture data set.
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公开(公告)号：US11466992B2
公开(公告)日：2022-10-11
申请号：US16806445
申请日：2020-03-02
Inventor： Hang Gao , Wendong Ding , Shenhua Hou , Guowei Wan , Shiyu Song
Abstract: The present disclosure provides a method, an apparatus, a computing device and a computer readable storage medium for detecting an environmental change, and relates to the field of autonomous driving. The method obtains a global map for an area and a first local map built in real time for a sub-area in the area; and determines an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change. Techniques of the present disclosure can automatically detect environmental changes that affect the positioning of autonomous driving, thereby facilitating the updating of positioning maps.
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9.发明申请公开(公告)号：US20210358213A1
公开(公告)日：2021-11-18
申请号：US17206999
申请日：2021-03-19
Inventor： Li Yu , Weixin Lu , Guowei Wan , Liang Peng , Shiyu Song
Abstract: A method, an electronic device and a readable storage medium for point cloud data processing, which may be used for autonomous driving, are disclosed. The feature vectors of respective points in the first point cloud data and second point cloud data are pre-learned, and thus the feature vectors of the first key points may be determined directly based on the learnt second feature vectors of respective first neighboring points of the respective first key points in the first point cloud data, and the feature vectors of the candidate key points may be determined directly based on the learnt third feature vectors of the respective second neighboring points of respective candidate key points in the second point cloud data corresponding to the first key points.
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公开(公告)号：US11713970B2
公开(公告)日：2023-08-01
申请号：US17209159
申请日：2021-03-22
Inventor： Yao Zhou , Guowei Wan , Shiyu Song
IPC: G01C21/28 , G06T7/73 , G06V10/764 , G06V10/82 , G06V20/58
CPC classification number: G01C21/28 , G06T7/73 , G06V10/764 , G06V10/82 , G06V20/58 , G06T2207/10028
Abstract: A positioning method includes acquiring an image of an area where a target object is located at a first time instant and multiple frames of point cloud data of an area where the target object is located at multiple time instants, wherein the multiple frames of point cloud data include first point cloud data of the area where the target object is located at the first time instant. The method also includes determining a point cloud map according to the multiple frames of point cloud data and acquiring a target feature vector according to the first point cloud data, the point cloud map and the image. The method further includes determining a positioning result of the target object according to the target feature vector.
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