Perception Extension Development Pattern Based On Package Management

• Re-split the perception components based on "functional" granularity to facilitate reuse.
• A brand-new plugin development mode to facilitate the replacement of algorithms under the existing perception pipeline.
• Simplified and unified configuration to allow developers to query and modify parameters at any time.

Brand New Dreamview Plus Developer Tool

• Organize the usage scenarios of the development tool based on "mode", such as Perception mode, PnC mode, and Vehicle Test mode.
• Encapsulate each visualization functionality into an independent panel and support developers to customize the panel.
• Provide various resources such as maps, scenarios, vehicle configurations, and data records in the resource center to facilitate development and debugging.

Fully Upgraded Perception Model to Support Incremental Training

• CenterPoint is adopted to replace CNNSeg model by default in the LiDAR perception pipeline and YOLOX+YOLO3D is adopted to replace the original YOLO model by default in the Camera perception pipeline.
• Provide incremental training to improve perception model capabilities in specific scenarios by using a small amount of annotated data and Apollo pre-trained models.
• Support 4D millimeter-wave radar from hardware driver to perception model layer.