Patent ID: 11941844
Assignee: UBTECH ROBOTICS CORP LTD
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 12:
13. A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:
instructions for inputting a preset first amount of training samples into a to-be-trained object detection model, and performing an iterative training on the object detection model, wherein the training samples include one or more positive samples and one or more negative samples;
instructions for determining an untrained current iteration node as an object iteration node according to a node order, and obtaining one or more model parameters of the object detection model corresponding to a previous iteration node of the object iteration node;
instructions for determining a detection accuracy of the object detection model at the object iteration node based on the one or more model parameters;
instructions for obtaining one or more enhanced negative samples by enhancing one or more mis-detected negative samples of the object detection model at the object iteration node according to a preset negative sample enhancement rule, in response to the detection accuracy being less than or equal to a preset accuracy threshold;
instructions for training the object iteration node based on the one or more enhanced negative samples and the preset first amount of the training samples; and
instructions for returning to the determining the untrained current iteration node as the object iteration node according to the node order after the object iteration node is trained until the object detection model is trained;
wherein the instructions for obtaining the one or more enhanced negative samples by enhancing the one or more mis-detected negative samples of the object detection model at the object iteration node according to the preset negative sample enhancement rule comprise:
instructions for obtaining the one or more mis-detected negative samples of the object detection model at the object iteration node;
instructions for obtaining one or more spliced images by splicing a preset second amount of the mis-detected negative samples and the positive samples at intervals; and
instructions for obtaining the one or more enhanced negative samples by cropping all the spliced images according to a preset cropping rule.