On September 16th, data from the Tianyancha App indicates that Xiaomi Auto Technology Co., Ltd. has recently seen the publication of its patent titled "A 3D Scene Perception Method, Apparatus, Electronic Device, and Storage Medium." This particular patent is intricately linked to autonomous driving technology. The method outlined in the patent encompasses several key steps: initially, it involves capturing multiple images of the vehicle's immediate surroundings as well as the first query coordinate points within the target area. These images and coordinate points are then fed into a 3D perception model, which subsequently generates the Signed Distance Function (SDF) values and semantic categories corresponding to those coordinate points. Based on these values and categories, the system proceeds to reconstruct the relevant 3D scene. This innovative approach facilitates real-time, dense 3D reconstruction by leveraging SDF values and semantic categories, thereby enhancing the precision of 3D scene perception.