The structure of patch transformer. The image is first segmented before feature extraction in the encoder, and edges are padded to maintain feature integrity. The transformer then extracts features for each patch, which are stacked together. In the decoder, our focus is on dimensional reduction and expanding the feature map size.

The structure of patch transformer. The image is first segmented before feature extraction in the encoder, and edges are padded to maintain feature integrity. The transformer then extracts features for each patch, which are stacked together. In the decoder, our focus is on dimensional reduction and expanding the feature map size.

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During production, smart cars are equipped with calibrated LiDARs and cameras. However, due to the vibrations that inevitably occur during driving, the sensors’ extrinsic parameters may change slightly over time. It is a significant challenge to ensure the ongoing security of these systems throughout the car’s lifetime. To address this issue, we pr...

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