Patent ID: 11915501
Assignee: TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 11:
12. An object detection apparatus, comprising:
one or more processors;
a non-transitory computer readable memory in communication with the one or more processors storing instructions thereon, the instructions, when executed by the one or more processors, configure the one or more processors to:
obtain a point cloud of a scene, the point cloud comprising location information of points;
map the point cloud to a three-dimensional (3D) voxel representation and configured to obtain feature information of a 3D voxel;
perform a convolution operation on the feature information of the 3D voxel to obtain a convolution feature set;
determine initial positioning information of a candidate object region based on the convolution feature set;
determine a target point located in the candidate object region in the point cloud; and
adjust the initial positioning information of the candidate object region based on location information and target convolution feature information of the target point and configured to obtain positioning information of a target object region, wherein the target convolution feature information is convolution feature information corresponding to a location of the target point in the convolution feature set,

wherein the adjustment unit further comprises:
fuse the location information and the target convolution feature information of the target point to obtain region feature information of the candidate object region;
predict positioning offset information of the candidate object region relative to an actual object region based on the region feature information, to obtain predicted positioning offset information; and
correct the initial positioning information of the candidate object region based on the predicted positioning offset information, to obtain the positioning information of the target object region.