Abstract: Embodiments of the present disclosure can provide a method, apparatus and computer readable storage medium for determining a matching relationship between point cloud data. The method can include extracting a first characteristic associated with first point cloud data and a second characteristic associated with second point cloud data. The first point cloud data and the second point cloud data are acquired for the same object. The method can further include performing characteristic matching between the first characteristic and the second characteristic. In addition, the method can further include determining, based on the characteristic matching, a matching relationship between the first point cloud data and the second point cloud data.

Abstract: Embodiments of the present disclosure can include a method and apparatus for adjusting a point cloud data acquisition trajectory, and a computer readable medium. According to the embodiments of the present disclosure, a trajectory may be adjusted based on a characteristic extracted from point cloud data. A parameter that needs to be adjusted may be selected according to the property of the characteristic, instead of adjusting all parameters at the same time. In addition, according to the embodiments of the present disclosure, when trajectories are fused, the sequence relationships between the trajectory points in the trajectories can be considered, which avoids that a loop cannot be closed.

Abstract: According to the exemplary embodiments of the present disclosure, a method and apparatus for detecting a lane line, and a medium are provided. A method for generating a lane line detection model includes: detecting a lane line in an original image to generate a first image associated with the detected lane line; acquiring a second image generated based on the original image and associated with a marked lane line; generating at least one tag indicating whether the detected lane line is accurate, based on the first image and the second image; and training a classifier model for automatically identifying the lane line, based on the first image and the at least one tag. In such case, the lane line detection may be achieved in a simple and effective way.

Abstract: A method, apparatus, and computer readable medium for generating a raster map are provided. The method includes generating a first raster map having a first resolution based on acquired laser point cloud. The method further includes generating a second raster map having a second resolution by merging rasters in the first raster map, the second resolution being lower than the first resolution. In addition, the method further includes storing the first raster map and an association between the first raster map and the second raster map. Some embodiments of the present disclosure are capable of meeting different levels of navigation or positioning requirements by generating raster maps of multiple resolutions. Furthermore, some embodiments of the present disclosure store only the raster map having the highest resolution and the association between the various levels of maps, thereby saving the storage space.

Abstract: Implementations of the present disclosure can include a method and apparatus for processing point cloud data. Specifically, the method for processing point cloud data can be provided, including: acquiring a first frame and a second frame respectively from the point cloud data; extracting a first candidate object from the first frame and a second candidate object corresponding to the first candidate object from the second frame, respectively; determining a first location of the first candidate object and a second location of the second candidate object in a coordinate system of the point cloud data, respectively; and identifying any one of the first candidate object and the second candidate object as a moving object, in response to an offset between the first location and the second location.

Abstract: A method, apparatus, and computer readable storage medium for updating an electronic map are disclosed. A method for updating an electronic map includes: acquiring a group of collected images collected by a collection entity and associated with a target map element in the electronic map, the target map element having a target image and a target location; executing inter-group matching between the group of collected images and the target image; executing intra-group matching among the group of collected images; and updating a location of a to-be-updated map element associated with the target map element based on the inter-group matching, the intra-group matching and the target location. In this way, the positioning precision of map elements can be improved.

Abstract: The disclosure relates to a method, apparatus, device, and computer readable storage medium for determining a lane line on a road. The method includes: acquiring a first curve as a reference curve, the first curve being obtained by fitting a first set of points selected from sets of points in different areas of the road; iteratively executing operations: selecting a second set of points from the sets of points based on the reference curve; generating a second curve by fitting the second set of points, determining a difference between a fitting degree associated with the reference curve and a fitting degree associated with the second curve, determining whether a convergence condition is met based on the difference, and setting the second curve as the reference curve if not met and determining the lane line of the road based on the second set of points if met.

Abstract: The present disclosure provides a panoramic image generation method and apparatus for a user terminal. The panoramic image generation method for a user terminal includes: obtaining a plurality of images shot by a user terminal, determining an adjacence relationship among the plurality of images, and performing feature matching on adjacent images to obtain matched feature-point-pairs; obtaining an optimized camera parameter according to the matched feature-point-pairs and an initial camera parameter; performing a color adjustment on the adjacent images to obtain color adjusted adjacent images; and mosaicking the color adjusted adjacent images according to the optimized camera parameter to generate a panoramic image.

Abstract: A scene reconstruction method, apparatus, terminal device, and storage medium. The method includes: acquiring a first image set matching a to-be-reconstructed scene (11); extracting a characteristic region of an image in the first image set by using a characteristic extraction algorithm (12); performing recognition on the characteristic region to obtain a scene characteristic region in the image (13); and performing three-dimensional reconstruction on the to-be-reconstructed scene according to the scene characteristic region in the image, and rendering and generating the to-be-reconstructed scene (14). Some useless and unstable characteristic regions are filtered off, and the three-dimensional reconstruction on the to-be-reconstructed scene is performed only according to the scene characteristic region associated with the to-be-reconstructed scene, thereby improving the efficiency and accuracy of reconstruction.

Abstract: The present application discloses a picture presentation method and apparatus.