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

Claim 22:
23. A non-transitory, computer-readable storage medium containing instructions thereon, the instructions, when run on a computer, configure the computer to perform the following operations comprising:
obtaining a point cloud of a scene, the point cloud comprising location information of points;
mapping the point cloud to a three-dimensional (3D) voxel representation, to obtain feature information of a 3D voxel;
performing a convolution operation on the feature information of the 3D voxel to obtain a convolution feature set;
determining initial positioning information of a candidate object region based on the convolution feature set;
determining a target point located in the candidate object region in the point cloud; and
adjusting the initial positioning information of the candidate object region based on location information and target convolution feature information of the target point, wherein to obtain positioning information of a target object region, the target convolution feature information is convolution feature information corresponding to a location of the target point in the convolution feature set,
wherein the adjusting further comprises:
fusing the location information and the target convolution feature information of the target point to obtain region feature information of the candidate object region;
predicting 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
correcting 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.