https://charmve.github.io/autonomy_perception/?#/./docs/12-%E5%9F%BA%E4%BA%8EBEV%E5%A4%9A%E6%A8%A1%E6%80%81%E6%95%B0%E6%8D%AE%E7%9A%843D%E6%A3%80%E6%B5%8B%E4%B8%8E%E5%88%86%E5%89%B2%E4%BB%BB%E5%8A%A1 Description
