METHOD AND APPARATUS FOR ASYNCHRONOUS DATA FUSION, STORAGE MEDIUM AND ELECTRONIC DEVICE

摘要

A method and an apparatus for asynchronous data fusion, a storage medium and an electronic device are provided. The method includes: obtaining current frame LiDAR data, and determining current frame LiDAR three-dimensional embeddings; determining a previous frame fused hidden state, and performing a temporal fusion process based on the previous frame fused hidden state and the current frame LiDAR three-dimensional embeddings to generate a current frame temporary hidden state and a current frame output resu and obtaining current frame camera data, determining current frame camera three-dimensional embeddings, and generating a current frame fused hidden state based on the current frame camera three-dimensional embeddings and the current frame temporary hidden state. Asynchronous fusion is performed on the current frame LiDAR data and previous frame camera data, which leads to a low processing latency.