Abstract: Embodiments of the present disclosure disclose a method and apparatus for outputting obstacle information. A specific embodiment of the method comprises: determining a candidate direction information set of a target obstacle point cloud; determining, for each piece of candidate direction information in the candidate direction information set, a target value of the target obstacle point cloud in a direction indicated by the candidate direction information based on the target obstacle point cloud and a smallest circumscribing rectangle of the target obstacle point cloud in the direction indicated by the candidate direction information; defining candidate direction information having a minimum target value in the candidate direction information set as direction information corresponding to the target obstacle cloud point; and outputting the direction information corresponding to the target obstacle cloud point, thereby improving the abundance of content of outputted obstacle information.

Abstract: The present disclosure provides a method and apparatus for judging a vehicle driving direction, a device and a computer storage medium, wherein the method for judging a vehicle driving direction comprises: obtaining a point cloud subset of the vehicle and candidate orientation angles of the vehicle; respectively determining a minimum enclosing rectangle of top view data in the point cloud subset, in the direction of each candidate orientation angle; determining energy functions corresponding to candidate orientation angles by using distribution properties of respective point clouds in the respective minimum enclosing rectangles relative to the minimum enclosing rectangles; determining the driving direction of the vehicle from the candidate orientation angles, according to the energy functions.

Abstract: Embodiments of the present disclosure disclose a method and apparatus for outputting obstacle information. A specific embodiment of the method comprises: determining a candidate direction information set of a target obstacle point cloud; determining, for each piece of candidate direction information in the candidate direction information set, a target value of the target obstacle point cloud in a direction indicated by the candidate direction information based on the target obstacle point cloud and a smallest circumscribing rectangle of the target obstacle point cloud in the direction indicated by the candidate direction information; defining candidate direction information having a minimum target value in the candidate direction information set as direction information corresponding to the target obstacle cloud point; and outputting the direction information corresponding to the target obstacle cloud point, thereby improving the abundance of content of outputted obstacle information.

Abstract: The present disclosure provides a method and apparatus for judging a vehicle driving direction, a device and a computer storage medium, wherein the method for judging a vehicle driving direction comprises: obtaining a point cloud subset of the vehicle and candidate orientation angles of the vehicle; respectively determining a minimum enclosing rectangle of top view data in the point cloud subset, in the direction of each candidate orientation angle; determining energy functions corresponding to candidate orientation angles by using distribution properties of respective point clouds in the respective minimum enclosing rectangles relative to the minimum enclosing rectangles; determining the driving direction of the vehicle from the candidate orientation angles, according to the energy functions.