The invention relates to a fusion sensing method and device, equipment and a storage medium, and the method comprises the steps: obtaining multi-modal sensor data; encoding the multi-modal sensor data to obtain feature data; performing feature sampling on the feature data based on a modal independent feature sampler to obtain target feature data; and decoding the target feature data to obtain target detection frame information and target category information. The method can automatically adapt to different tasks and fields, can process data collected by various sensors in parallel, can obtain more accurate and comprehensive characteristics through cross-modal information fusion and in combination with the advantages of different sensors, can realize more accurate and comprehensive three-dimensional object detection capability, and can improve the detection efficiency. And the sensing accuracy and reliability are improved.

    本申请涉及一种融合感知方法、装置、设备及存储介质,其中,融合感知方法包括:获取多模态传感器数据;对多模态传感器数据进行编码,得到特征数据;基于模态无关特征采样器对特征数据进行特征采样,得到目标特征数据;对目标特征数据进行解码,得到目标检测框信息和目标类别信息。本申请能够自动适应不同任务和领域,能够并行地处理多种传感器采集到的数据,其可以通过跨模态的信息融合,结合不同传感器的优势,从而可以得到更加精确和全面的特征,可以实现更加精确和全面的三维物体检测能力,提高感知准确性和可靠性。


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    Title :

    Fusion perception method and device, equipment and storage medium


    Additional title:

    融合感知方法、装置、设备及存储介质


    Contributors:
    XING YUN (author) / QI SHENGXIANG (author) / DONG NAN (author)

    Publication date :

    2024-04-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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