FIELD: computer equipment.
SUBSTANCE: group of inventions can be used to determine presence of objects around a self-controlled vehicle. Method comprises: generating a data tensor of a three-dimensional point cloud which characterizes information contained in data of a three-dimensional point cloud, image forming tensor characterizing information contained in image data, and subsequent analysis of the image tensor to identify the relevant part of the data in the image information relevant to at least one candidate object. Method further comprises combining the three-dimensional point cloud data tensor with the relevant part of the image tensor associated with the relevant part of the data in the image information, to form a combined tensor associated with the surrounding area, and preserve the combined tensor for the purpose of its use by the machine learning algorithm to determine the presence of an object in the surrounding area.
EFFECT: technical result is higher accuracy of vehicle detection.
26 cl, 8 dwg
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