Pony.ai OA 面试真题解析：Fuse Lidar and Camera Obstacles 传感器障碍物融合

Fuse Lidar and Camera Obstacles

You are given two lists of obstacles detected by different sensors: lidar_obstacles and camera_obstacles.

Each obstacle has a box with coordinates [x, y, w, h], where x and y are the center coordinates, and w and h are the width and height.

Write a function fuse(lidar_obstacles: List[LidarObstacle], camera_obstacles: List[CameraObstacle]) -> List[...].

The goal is to merge the two lists into one list of obstacles for the current timestamp.

• Trust lidar obstacles more when a lidar obstacle overlaps with a camera obstacle.
• If there is no overlap, append both obstacles to the result.
• Return the fused list of obstacles.

这道题考察的是双传感器障碍物融合：输入为 lidar 和 camera 两组障碍物，每个障碍物都用中心点加宽高的 box 表示。核心是判断两个障碍物是否重叠，如果重叠则优先保留 lidar 的结果；如果不重叠，则两个都要加入输出列表。实现时通常需要先把 box 转成矩形区间，再用重叠判断完成匹配与合并，重点在于清晰处理“覆盖、冲突、保留双方”这几种情况。