When using the probability matrix to pick from the candidate set, it is important that the candidate array be sorted in advance. Not doing so will fail to preserve the patterns distinctive of ordered dithering. A good approach is to sort the candidate colours by luminance, or the measure of a colour’s lightness4. When this is done, we effectively minimise the contrast between successive candidates in the array, making it easier to observe the pattern embedded the matrix.
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在夜间场景中，系统对深色物体的识别率提升了 72%，有效缓解了此前智驾系统在面对穿深色衣物的行人或无路灯路段障碍物时的高频失误问题。
