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Visual perception method and device, computer equipment and storage medium

A visual perception and image sensor technology, applied in computer components, calculation, character and pattern recognition, etc., can solve problems such as time-consuming, perception delay, and complicated process, so as to improve processing efficiency, reduce perception delay, and simplify processing The effect of the process

Inactive Publication Date: 2021-08-27
前海七剑科技(深圳)有限公司
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Problems solved by technology

However, in the process of automatic driving (or other scenarios that do not require human participation), it is not necessary to process Bayer images into RGB images. The above-mentioned process of using ISP for visual perception is complex and time-consuming, which leads to perception delays

Method used

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  • Visual perception method and device, computer equipment and storage medium
  • Visual perception method and device, computer equipment and storage medium
  • Visual perception method and device, computer equipment and storage medium

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Embodiment Construction

[0046] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0047] The visual perception method provided by this application can be used in research fields such as environment perception and target detection, and can be specifically applied to application environments that require devices to achieve visual perception. For example, it can be as follows figure 1 The shown application environment of vehicle automatic driving may also be an application environment of UAV target tracking. in applications such as figure 1 In the application environment of automatic driving of the vehicle shown, the vehicle obtains the Bayer format image...

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Abstract

The invention relates to a visual perception method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a Bayer format image acquired by an image sensor of a vehicle in a target driving environment; inputting the Bayer format image into an image recognition model to obtain an image recognition result, wherein the image recognition model is a target recognition model obtained by adopting Bayer format sample image training, and the image recognition result comprises the type and the position of a target object in the target driving environment. By adopting the visual perception method, the original format image (namely the Bayer format image) acquired by the image sensor does not need to be converted into the RGB image, so that the processing process of visual perception is simplified, the processing efficiency is improved, and the perception delay is further reduced.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a visual perception method, device, computer equipment and storage medium. Background technique [0002] Visual perception is a very important perception method in the field of automatic driving. Vehicles that realize automatic driving usually need to install a large number of image sensors to collect image data of the environment. By performing target detection on the collected image data, the vehicle's visual perception of the environment is realized. [0003] The visual perception method in the traditional technology is to convert the Bayer image collected by the image sensor into an RGB image through an ISP (Image Signal Processor, Image Signal Processor), and then input the RGB image into the image recognition module for processing to obtain the recognition result. [0004] The above-mentioned conversion of the Bayer image into the RGB image by the ISP is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/56G06V10/44G06V2201/07G06F18/214
Inventor 王诗俊
Owner 前海七剑科技(深圳)有限公司
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