Method and system for self-supervised learning of pillar motion for autonomous driving

Abstract

A method and a device for self-supervised learning, a storage medium, and an electronic device are provided. The method includes: organizing real points in one column along a vertical direction into a pillar; determining a predicted point in a next frame; determining a first loss term based on a minimum distance among distances between predicted points in the next frame and real points in the next frame, and generating a loss function including the first loss term; and performing self-supervised learning processing based on the loss function. A pillar motion parameter representing motion of a real point is determined with the pillar as a unit, so as to enhance correlation between point clouds. Self-supervised learning can be realized in a case of no precise correspondence between the predicted point and the real point, and training is performed based on a large number of unlabeled point clouds.