CN114694123B - 交通信号灯感知方法、装置、设备及存储介质 - Google Patents
交通信号灯感知方法、装置、设备及存储介质 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 239000013598 vector Substances 0.000 claims abstract description 395
- 230000004927 fusion Effects 0.000 claims abstract description 79
- 230000008447 perception Effects 0.000 claims abstract description 54
- 238000007499 fusion processing Methods 0.000 claims abstract description 17
- 238000000605 extraction Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 238000011176 pooling Methods 0.000 claims description 7
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- G06F18/25—Fusion techniques
- G06F18/253—Fusion techniques of extracted features
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
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CN202210599282.6A CN114694123B (zh) | 2022-05-30 | 2022-05-30 | 交通信号灯感知方法、装置、设备及存储介质 |
PCT/CN2023/096961 WO2023231991A1 (zh) | 2022-05-30 | 2023-05-29 | 交通信号灯感知方法、装置、设备及存储介质 |
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KR102652486B1 (ko) * | 2021-09-24 | 2024-03-29 | (주)오토노머스에이투지 | 라이다를 이용한 신호등 정보 예측 방법 및 이를 이용한 서버 |
CN114694123B (zh) * | 2022-05-30 | 2022-09-27 | 阿里巴巴达摩院(杭州)科技有限公司 | 交通信号灯感知方法、装置、设备及存储介质 |
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CN113421305A (zh) * | 2021-06-29 | 2021-09-21 | 上海高德威智能交通系统有限公司 | 目标检测方法、装置、系统、电子设备及存储介质 |
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DE102015214743A1 (de) * | 2015-08-03 | 2017-02-09 | Audi Ag | Verfahren und Vorrichtung in einem Kraftfahrzeug zur verbesserten Datenfusionierung bei einer Umfelderfassung |
CN107316488B (zh) * | 2017-08-23 | 2021-01-12 | 苏州豪米波技术有限公司 | 信号灯的识别方法、装置和系统 |
CN109583415B (zh) * | 2018-12-11 | 2022-09-30 | 兰州大学 | 一种基于激光雷达与摄像机融合的交通灯检测与识别方法 |
DE102019215440B4 (de) * | 2019-10-09 | 2021-04-29 | Zf Friedrichshafen Ag | Erkennung von Verkehrsschildern |
KR20200102907A (ko) * | 2019-11-12 | 2020-09-01 | 써모아이 주식회사 | 가시광 및 적외선 융합 영상 기반 객체 검출 방법 및 장치 |
CN111507210B (zh) * | 2020-03-31 | 2023-11-21 | 华为技术有限公司 | 交通信号灯的识别方法、系统、计算设备和智能车 |
CN111652050B (zh) * | 2020-04-20 | 2024-04-02 | 宁波吉利汽车研究开发有限公司 | 一种交通标志的定位方法、装置、设备和介质 |
CN111563551B (zh) * | 2020-04-30 | 2022-08-30 | 支付宝(杭州)信息技术有限公司 | 一种多模态信息融合方法、装置及电子设备 |
CN111582189B (zh) * | 2020-05-11 | 2023-06-23 | 腾讯科技(深圳)有限公司 | 交通信号灯识别方法、装置、车载控制终端及机动车 |
CN111950467B (zh) * | 2020-08-14 | 2021-06-25 | 清华大学 | 基于注意力机制的融合网络车道线检测方法及终端设备 |
US20220101087A1 (en) * | 2020-09-30 | 2022-03-31 | Qualcomm Incorporated | Multi-modal representation based event localization |
CN112580460A (zh) * | 2020-12-11 | 2021-03-30 | 西人马帝言(北京)科技有限公司 | 一种交通信号灯的识别方法、装置、设备及存储介质 |
CN112507947A (zh) * | 2020-12-18 | 2021-03-16 | 宜通世纪物联网研究院(广州)有限公司 | 基于多模态融合的手势识别方法、装置、设备及介质 |
CN112488083B (zh) * | 2020-12-24 | 2024-04-05 | 杭州电子科技大学 | 基于heatmap提取关键点的交通信号灯的识别方法、装置、介质 |
CN112861748B (zh) * | 2021-02-22 | 2022-07-12 | 奥特酷智能科技(南京)有限公司 | 一种自动驾驶中的红绿灯检测系统及方法 |
CN113065590B (zh) * | 2021-03-26 | 2021-10-08 | 清华大学 | 一种基于注意力机制的视觉与激光雷达多模态数据融合方法 |
CN113343849A (zh) * | 2021-06-07 | 2021-09-03 | 西安恒盛安信智能技术有限公司 | 一种基于雷达和视频的融合感知设备 |
CN113269156B (zh) * | 2021-07-02 | 2023-04-18 | 昆明理工大学 | 一种基于多尺度特征融合的信号灯检测识别方法及系统 |
CN114254696A (zh) * | 2021-11-30 | 2022-03-29 | 上海西虹桥导航技术有限公司 | 基于深度学习的可见光、红外和雷达融合目标检测方法 |
CN114398937B (zh) * | 2021-12-01 | 2022-12-27 | 北京航空航天大学 | 一种基于混合注意力机制的图像-激光雷达数据融合方法 |
CN113879339A (zh) * | 2021-12-07 | 2022-01-04 | 阿里巴巴达摩院(杭州)科技有限公司 | 自动驾驶的决策规划方法、电子设备及计算机存储介质 |
CN114549542A (zh) * | 2021-12-24 | 2022-05-27 | 阿里巴巴达摩院(杭州)科技有限公司 | 视觉语义分割方法、装置及设备 |
CN114419412A (zh) * | 2022-03-31 | 2022-04-29 | 江西财经大学 | 一种用于点云配准的多模态特征融合方法与系统 |
CN114694123B (zh) * | 2022-05-30 | 2022-09-27 | 阿里巴巴达摩院(杭州)科技有限公司 | 交通信号灯感知方法、装置、设备及存储介质 |
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2022
- 2022-05-30 CN CN202210599282.6A patent/CN114694123B/zh active Active
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CN113421305A (zh) * | 2021-06-29 | 2021-09-21 | 上海高德威智能交通系统有限公司 | 目标检测方法、装置、系统、电子设备及存储介质 |
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Application publication date: 20220701 Assignee: Hangzhou Jinyong Technology Co.,Ltd. Assignor: Alibaba Dharma Institute (Hangzhou) Technology Co.,Ltd. Contract record no.: X2024980001317 Denomination of invention: Traffic signal perception methods, devices, devices, and storage media Granted publication date: 20220927 License type: Common License Record date: 20240123 Application publication date: 20220701 Assignee: Golden Wheat Brand Management (Hangzhou) Co.,Ltd. Assignor: Alibaba Dharma Institute (Hangzhou) Technology Co.,Ltd. Contract record no.: X2024980001316 Denomination of invention: Traffic signal perception methods, devices, devices, and storage media Granted publication date: 20220927 License type: Common License Record date: 20240123 Application publication date: 20220701 Assignee: Hangzhou Xinlong Huazhi Trademark Agency Co.,Ltd. Assignor: Alibaba Dharma Institute (Hangzhou) Technology Co.,Ltd. Contract record no.: X2024980001315 Denomination of invention: Traffic signal perception methods, devices, devices, and storage media Granted publication date: 20220927 License type: Common License Record date: 20240123 |