Abstract: An obstacle detection method and device, an apparatus and a storage medium are provided, which are related to a field of intelligent transportation. The specific implementation includes: acquiring position information of a two-dimensional (2D) detection frame and position information of a three-dimensional (3D) detection frame of an obstacle in an image; converting the position information of the 3D detection frame of the obstacle into position information of a 2D projection frame of the obstacle; and optimizing the position information of the 3D detection frame of the obstacle by using the position information of the 2D detection frame, the position information of the 3D detection frame and the position information of the 2D projection frame of the obstacle in the image. Accuracy of results of predicting a 3D position of an obstacle by a roadside, on-board sensing device, or other sensing devices may be improved.

Abstract: The present disclosure describes methods, device, and storage medium for obtaining lane line data of a road. The method includes obtaining and dividing, by a device, road-image data of a road into at least one segment. The device includes a memory storing instructions and a processor in communication with the memory. The method includes processing, by the device, each segment to obtain a two-dimensional grayscale image of each segment; extracting, by the device using a pre-trained deep neural network model, a lane line area and a lane line attribute in each two-dimensional grayscale image, to obtain a lane line area image of each segment; and splicing, by the device, each lane line area image based on corresponding road-image data and the lane line attribute, to obtain lane line data of the road.

Abstract: A ground mark determining method and apparatus are provided. The method includes: obtaining, by the computer device, a point cloud grayscale image, the point cloud grayscale image comprising a road segment map; obtaining, by the computer device, ground mark information from the road segment map and running a mark-extraction network model to extract ground marks in the road segment map, the ground mark information comprising information about the ground marks extracted by the mark-extraction network model, and the ground marks indicating driving information marked on a road segment surface; and determining, by the computer device, a target ground mark from the ground marks according to the ground mark information.

Abstract: This application discloses a map element extraction method and apparatus, and a server. The map element extraction method includes obtaining a laser point cloud and an image of a target scene, the target scene including a map element; performing registration between the laser point cloud and the image to obtain a depth map of the image; performing image segmentation on the depth map of the image to obtain a segmented image of the map element in the depth map; and converting a two-dimensional location of the segmented image in the depth map to a three-dimensional location of the map element in the target scene according to a registration relationship between the laser point cloud and the image.

Abstract: An image processing method is provided for an electronic device. The method includes obtaining a target image comprising a target object; recognizing target two-dimensional location coordinates of the target object in the target image and a target attribute type corresponding to the target object; and obtaining a target three-dimensional point cloud associated with the target image. The method also include, according to a mapping relationship between the target three-dimensional point cloud and all pixels in the target image, obtaining three-dimensional location coordinates corresponding to pixels in the target two-dimensional location coordinates, as target three-dimensional location coordinates; determining a setting region in three-dimensional map data according to the target three-dimensional location coordinates; and setting the target attribute type for the target object in the setting region. Electronic device and non-transitory computer-readable storage medium counterparts are also contemplated.

Abstract: An obstacle detection method and device, an apparatus and a storage medium are provided, which are related to a field of intelligent transportation. The specific implementation includes: acquiring position information of a two-dimensional (2D) detection frame and position information of a three-dimensional (3D) detection frame of an obstacle in an image; converting the position information of the 3D detection frame of the obstacle into position information of a 2D projection frame of the obstacle; and optimizing the position information of the 3D detection frame of the obstacle by using the position information of the 2D detection frame, the position information of the 3D detection frame and the position information of the 2D projection frame of the obstacle in the image. Accuracy of results of predicting a 3D position of an obstacle by a roadside, on-board sensing device, or other sensing devices may be improved.

Abstract: This application discloses a map element extraction method and apparatus, and a server. The map element extraction method includes obtaining a laser point cloud and an image of a target scene, the target scene including a map element; performing registration between the laser point cloud and the image to obtain a depth map of the image; performing image segmentation on the depth map of the image to obtain a segmented image of the map element in the depth map; and converting a two-dimensional location of the segmented image in the depth map to a three-dimensional location of the map element in the target scene according to a registration relationship between the laser point cloud and the image.

Abstract: An image processing method is provided for an electronic device. The method includes obtaining a target image comprising a target object; recognizing target two-dimensional location coordinates of the target object in the target image and a target attribute type corresponding to the target object; and obtaining a target three-dimensional point cloud associated with the target image. The method also include, according to a mapping relationship between the target three-dimensional point cloud and all pixels in the target image, obtaining three-dimensional location coordinates corresponding to pixels in the target two-dimensional location coordinates, as target three-dimensional location coordinates; determining a setting region in three-dimensional map data according to the target three-dimensional location coordinates; and setting the target attribute type for the target object in the setting region. Electronic device and non-transitory computer-readable storage medium counterparts are also contemplated.

Abstract: A ground mark determining method and apparatus are provided. The method includes: obtaining, by the computer device, a point cloud grayscale image, the point cloud grayscale image comprising a road segment map; obtaining, by the computer device, ground mark information from the road segment map and running a mark-extraction network model to extract ground marks in the road segment map, the ground mark information comprising information about the ground marks extracted by the mark-extraction network model, and the ground marks indicating driving information marked on a road segment surface; and determining, by the computer device, a target ground mark from the ground marks according to the ground mark information.

Abstract: The present disclosure describes methods, device, and storage medium for obtaining lane line data of a road. The method includes obtaining and dividing, by a device, road-image data of a road into at least one segment. The device includes a memory storing instructions and a processor in communication with the memory. The method includes processing, by the device, each segment to obtain a two-dimensional grayscale image of each segment; extracting, by the device using a pre-trained deep neural network model, a lane line area and a lane line attribute in each two-dimensional grayscale image, to obtain a lane line area image of each segment; and splicing, by the device, each lane line area image based on corresponding road-image data and the lane line attribute, to obtain lane line data of the road.

Abstract: An electrostatic discharge (ESD) protection circuit is electrically connected to a core circuit for preventing ESD charges from reaching the core circuit. The ESD protection circuit includes a pad, a pass transistor, a transistor, a capacitor, a resistor, and a delay trigger unit. The pass transistor controls passage of charges from the pad to the core circuit. The transistor sinks ESD charges during an ESD zapping event. The capacitor and the resistor couple voltage at the pad to a control electrode of the transistor for turning on the transistor during the ESD zapping event. The delay trigger unit retards transmission of low voltage to a control electrode of the pass transistor for keeping the pass transistor turned off during the ESD zapping event.

Abstract: A pad circuit includes a pad, a gate driving circuit, a voltage selection circuit, and an ESD detection/avoiding circuit. The gate driving circuit is used to discharge the ESD induced current. The ESD detection/avoiding circuit is used to isolate the ESD induced voltage. The voltage selection circuit selects a higher voltage from a power/ground terminal and the pad and outputs it to the gate driving circuit, so that the pad circuit can be used for the programming and 1/0 operations.

Abstract: A detachable freewheel turner for a bicycle mainly comprises a wrench formed with two through holes and a chain including a plurality of connectors, and at a end of the first connector formed with a hole, a junction plate connected to the two connectors which are adjacent to the hole, a pivot hole formed in the junction plate, the hole and pivot hole in the chain corresponding respectively to the through holes of the wrench. Two pins detachably extend through the through holes in the wrench and the hole and pivot hole in the chain, so as to secure the chain to the wrench.

Abstract: A tool box is formed of an upper cover, a lower cover, and a tool-holding body enclosed by the upper cover and the lower cover. The tool-holding body is provided with a plurality of tool-holding holes and two connection portions by wh[*p-1Xich the tool-holding body is attached to the upper cover and the lower cover.