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

Claim 10:
11. The object detection method according to claim 10, further comprising:
obtaining a training sample set, the training sample set comprising a sample point cloud of a sample scene;
mapping location information of points in the sample point cloud to a sample 3D voxel representation, to obtain sample feature information of a sample 3D voxel;
predicting positioning offset information and an object category corresponding to the sample 3D voxel based on a pre-constructed RPN and the sample feature information, to obtain predicted positioning offset information and a predicted category;
calculating a positioning offset loss of the predicted positioning offset information relative to actual offset information;
calculating a category loss of the predicted object category relative to an actual object category; and
training the RPN based on the positioning offset loss and the category loss, to obtain a trained RPN.