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

Claim 6:
7. 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; and
determining a probability that the first pixel corresponds to a dynamic object based on magnitude of the object optical flow, to determine a probability that a real point in the target frame corresponding to the first pixel corresponds to the dynamic object, wherein the probability is positively correlated to the magnitude of the object optical flow;
and wherein the determining a first loss term based on minimum distances among distances between predicted points in the next frame and real points in the next frame comprises:
weighting, with the probability that the real point corresponds to the dynamic object as a weighting coefficient, minimum distances between predicted points in the next frame and real points in the next frame, and determining the first loss term based on a minimum distance obtained from weighting.