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

Claim 2:
3. The method according to claim 2, wherein the determining the first loss term based on a first minimum distance and/or a second minimum distance comprises: adding a sum of first minimum distances corresponding to the plurality of predicted points in the next frame to a sum of second minimum distances corresponding to the plurality of real points in the next frame to obtain the first loss term according to the following equation:, ℒ
   consist
  
  =
  
   
    
     ∑
     
      
       
        p
        ~
       
       i
       t
      
      ∈
      
       
        P
        ~
       
       t
      
     
    
    
     (
     
      
       min
       
        
         p
         j
         t
        
        ∈
        
         P
         t
        
       
      
      
       
       
        
         
          p
          ˜
         
         i
         t
        
        -
        
         p
         j
         t
        
       
       
      
     
     )
    
   
   +
   
    
     ∑
     
      
       p
       j
       t
      
      ∈
      
       P
       t
      
     
    
    
     (
     
      
       min
       
        
         
          p
          ~
         
         i
         t
        
        ∈
        
         
          P
          ~
         
         t
        
       
      
      
       
       
        
         p
         j
         t
        
        -
        
         
          
           p
           ˜
          
          i
          t
         
         
        
       
      
     
     )
    
   
  
 

wherein Lconsist represents the first loss term, {tilde over (p)}it represents an i-th predicted point in a t-th frame, {tilde over (p)}t represents a set of a plurality of predicted points in the t-th frame, pjt represents a j-th real point in the t-th frame, and pt represents a set of a plurality of real points in the t-th frame.