Deep multimodal cross-layer intersecting fusion method, terminal device, and storage medium
US11120276B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | May 20, 2021 |
| Grant date | Sep 14, 2021 |
| Priority date | — |
| Expiry date | May 20, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A deep multimodal cross-layer intersecting fusion method, a terminal device and a storage medium are provided. The method includes: acquiring an RGB image and point cloud data containing lane lines, and pre-processing the RGB image and point cloud data; and inputting the pre-processed RGB image and point cloud data into a pre-constructed and trained semantic segmentation model, and outputting an image segmentation result. The semantic segmentation model is configured to implement cross-layer intersecting fusion of the RGB image and point cloud data. In the new method, a feature of a current layer of a current modality is fused with features of all subsequent layers of another modality, such that not only can similar or proximate features be fused, but also dissimilar or non-proximate features can be fused, thereby achieving full and comprehensive fusion of features. All fusion connections are controlled by a learnable parameter.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.