Method and apparatus for outputting information
Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method may include: acquiring point cloud data and image data collected by a vehicle during a driving process; determining a plurality of time thresholds based on a preset time threshold value range; executing following processing for each time threshold: identifying obstacles included in each point cloud frame and each image frame respectively; determining a similarity between the obstacles; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine the number of obstacles; and determining, based on a plurality of numbers, and outputting a target time threshold.
1. A method for outputting information, comprising:
acquiring obstacle data collected by a vehicle during a driving process, the obstacle data including point cloud data and image data;
determining a plurality of time thresholds based on a preset time threshold value range;
executing following processing for each time threshold: identifying obstacles included in each point cloud frame in the point cloud data and each image frame in the image data respectively; determining a similarity between an obstacle in each point cloud frame and an obstacle in each image frame; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine a number of obstacles; and
determining, based on obtained a plurality of numbers, and outputting a target time threshold.
2. The method according to claim 1 , wherein the determining a plurality of time thresholds based on a preset time threshold value range comprises:
selecting a plurality of points in the time threshold value range at a preset time interval, as the plurality of time thresholds.
3. The method according to claim 1 , wherein the processing recognized obstacles based on a determining result, to determine a number of obstacles comprises:
associating, in response to the time interval being less than the time threshold, the two similar obstacles as the same obstacle; and
non-associating, in response to the time interval being greater than or equal to the time threshold, the two similar obstacles as the same obstacle.
4. The method according to claim 3 , wherein the method further comprises:
fusing, in response to the associating the two similar obstacles as the same obstacle, the two similar obstacles based on the point cloud frame and the image frame corresponding to the two similar obstacles.
5. The method according to claim 1 , wherein the determining, based on obtained a plurality of numbers, and outputting a target time threshold comprises:
determining a number-time threshold curve based on the plurality of numbers and a time threshold corresponding to each number; and
determining a slope of the curve at each time threshold, and determining the target time threshold based on each slope.
6. The method according to claim 5 , wherein the determining the target time threshold based on each slope comprises:
determining a maximum value of absolute values of the slopes; and
using a time threshold corresponding to the maximum value as the target time threshold.
7. An apparatus for outputting information, comprising:
at least one processor; and
a memory storing instructions, the instructions when executed by the at least one processor, causing the at least one processor to perform operations, the operations comprising:
acquiring obstacle data collected by a vehicle during a driving process, the obstacle data including point cloud data and image data;
determining a plurality of time thresholds based on a preset time threshold value range;
executing following processing for each time threshold: identifying obstacles included in each point cloud frame in the point cloud data and each image frame in the image data respectively; determining a similarity between an obstacle in each point cloud frame and an obstacle in each image frame; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame of two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine a number of obstacles; and
determining, based on obtained a plurality of numbers, and output a target time threshold.
8. The apparatus according to claim 7 , wherein the determining a plurality of time thresholds based on a preset time threshold value range comprises:
selecting a plurality of points in the time threshold value range at a preset time interval, as the plurality of time thresholds.
9. The apparatus according to claim 7 , wherein the processing recognized obstacles based on a determining result, to determine a number of obstacles comprises:
associating, in response to the time interval being less than the time threshold, the two similar obstacles as the same obstacle; and
non-associating, in response to the time interval being greater than or equal to the time threshold, the two similar obstacles as the same obstacle.
10. The apparatus according to claim 9 , wherein the operations further comprise:
fusing, in response to the associating the two similar obstacles as the same obstacle, the two similar obstacles based on the point cloud frame and the image frame corresponding to the two similar obstacles.
11. The apparatus according to claim 7 , wherein the determining, based on obtained a plurality of numbers, and outputting a target time threshold comprises:
determining a number-time threshold curve based on the plurality of numbers and a time threshold corresponding to each number; and
determining a slope of the curve at each time threshold, and determining the target time threshold based on each slope.
12. The apparatus according to claim 11 , wherein the determining the target time threshold based on each slope comprises:
determining a maximum value of absolute values of the slopes; and
using a time threshold corresponding to the maximum value as the target time threshold.
13. A non-transitory computer readable medium, storing a computer program thereon, wherein the computer program, when executed by a processor, causes the processor to perform operations, the operations comprising:
acquiring obstacle data collected by a vehicle during a driving process, the obstacle data including point cloud data and image data;
determining a plurality of time thresholds based on a preset time threshold value range;
executing following processing for each time threshold: identifying obstacles included in each point cloud frame in the point cloud data and each image frame in the image data respectively; determining a similarity between an obstacle in each point cloud frame and an obstacle in each image frame; determining, in response to the similarity being greater than a preset similarity threshold, whether a time interval between the point cloud frame and the image frame corresponding to two similar obstacles is less than the time threshold; and processing recognized obstacles based on a determining result, to determine a number of obstacles; and
determining, based on obtained a plurality of numbers, and outputting a target time threshold.
14. The non-transitory computer readable medium according to claim 13 , wherein the determining a plurality of time thresholds based on a preset time threshold value range comprises:
selecting a plurality of points in the time threshold value range at a preset time interval, as the plurality of time thresholds.
15. The non-transitory computer readable medium according to claim 13 , wherein the processing recognized obstacles based on a determining result, to determine a number of obstacles comprises:
associating, in response to the time interval being less than the time threshold, the two similar obstacles as the same obstacle; and
non-associating, in response to the time interval being greater than or equal to the time threshold, the two similar obstacles as the same obstacle.
16. The non-transitory computer readable medium according to claim 15 , wherein the operations further comprise:
fusing, in response to the associating the two similar obstacles as the same obstacle, the two similar obstacles based on the point cloud frame and the image frame corresponding to the two similar obstacles.
17. The non-transitory computer readable medium according to claim 13 , wherein the determining, based on obtained a plurality of numbers, and outputting a target time threshold comprises:
determining a number-time threshold curve based on the plurality of numbers and a time threshold corresponding to each number; and
determining a slope of the curve at each time threshold, and determining the target time threshold based on each slope.
18. The non-transitory computer readable medium according to claim 17 , wherein the determining the target time threshold based on each slope comprises:
determining a maximum value of absolute values of the slopes; and
using a time threshold corresponding to the maximum value as the target time threshold.