Patent ID: 11868438
Assignee: BEIJING QINGZHOUZHIHANG INTELLIGENT TECHNOLOGY CO., LTD
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 3:
4. The method according to claim 1, wherein the dataset further comprises image data of the plurality of frames matching the point clouds in the plurality of frames, wherein the method further comprises:
projecting a real point in a target frame onto an image plane comprising image data to determine a first pixel, and determining an ego-optical flow of the first pixel based on a pose change of an ego-vehicle, wherein the target frame is the current frame or the next frame, and the first pixel is a pixel in the image data of the target frame and matching a real point in the target frame;
determining an overall optical flow of the first pixel based on the image data, and determining an object optical flow of the first pixel based on the overall optical flow and the ego-optical flow;
projecting a pillar motion parameter corresponding to the real point in the target frame onto the image plane, and determining a corresponding projected optical flow; and
determining a second loss term based on a difference between the object optical flow and the projected optical flow, and adding the second loss term to the loss function.