URL https://blog.csdn.net/jinzhuojun/article/details/80875264 https://blog.csdn.net/jinzhuojun/article/details/83038279 https://zhuanlan.zhihu.com/p/33416142 https://github.com/ApolloAuto/apollo/blob/master/docs/specs/3d_obstacle_perception_cn.md 感知综述 https://zhuanlan.zhihu.com/p/33416142