文章目录
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- 1.Introduction to Perception
- 2.Sebastian’s Take
- 3.Computer Vision
- 4.Camera Images
- 5.LiDAR Images
- 6.Machine Learning
- 7.Neural Network
- 8.Backpropagation
- 9.Convolutional Neural Network
- 10.Detection and Classification
- 11.Tracking
- 12.Segmentation
- 13.Apollo Perception
- 14.Sensor Data Comparisons
- 15.Perception Fusion Strategy
- 16.Vehicle Detection Project from
- 17.Summary
1.Introduction to Perception
2.Sebastian’s Take
3.Computer Vision
无人驾驶车有四个感知世界的核心任务
- Detection
- Classification
- Tracking
- Segmentation, 语义分割意味着将图像中的每个像素与语义类别进行匹配, such as road, car, or sky.
4.Camera Images
To get more intuition about how to quantify a color, you can try RGB Slider
5.LiDAR Images
激光雷达传感器创建环境的点云表征,提供了难以通过摄像头图像获得的信息。如 距离 和 高度。
激光雷达传感器使用光线,尤其是激光来测量与环境中反射该光线的物体之间的距离。激光雷达发生激光脉冲并测量物体,将每个激光脉冲反射回传感器所花费的时间,反射需要的时间越长,物体离传感器越远。
激光雷达正是通过这种方式来构建世界的视觉表征。收集的数据形成一团点或“点云”。这些点云可以告诉我们关于物体的许多信息,例如其 形状 和 表面纹理 。通过对点进行聚类和分析,这些数据提供了足够的对象检测、跟踪或分类信息。
Footnote on Lidar
There are other possibilities to scan the laser beams. Instead of rotating the lasers or having a rotating mirror, we can scan the lidar with a vibrating micromirror. Those lidars are in development but none are commercially available now (as of March 2017).
Instead of mechanica