3D object detection method based on multi-view feature fusion of 4D RaDAR and LiDAR point clouds
US11397242B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 31, 2021 |
| Grant date | Jul 26, 2022 |
| Priority date | — |
| Expiry date | Dec 31, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/64
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A 3D object detection method based on multi-view feature fusion of 4D RaDAR and LiDAR point clouds includes simultaneously acquiring RaDAR point cloud data and LiDAR point cloud data; and inputting the RaDAR point cloud data and the lidar point cloud data into a pre-established and trained RaDAR and LiDAR fusion network and outputting a 3D object detection result, wherein the RaDAR and LiDAR fusion network is configured to learn interaction information of a LiDAR and a RaDAR from a bird's eye view and a perspective view, respectively, and concatenate the interaction information to achieve fusion of the RaDAR point cloud data and the lidar point cloud data. The method can combine advantages of RaDAR and LiDAR, while avoiding disadvantages of the two modalities as much as possible to obtain a better 3D object detection result.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.