Patent ID: 11908202
Assignee: GM CRUISE HOLDINGS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 9:
10. A system for object detection and part segmentation, the system comprising:
a memory storing instructions; and
a processor coupled to the memory, the processor is configured to execute instructions to:
receive point cloud data;
generate a three-dimensional (3D) point cloud including a plurality of points in a volume of a space of the point cloud based on the point cloud data;
obtain a set of global feature tokens to model global context of the 3D point cloud and local feature points of the 3D point cloud;
perform a global to local cross-attention (CA) to update the set of global feature tokens by aggregating local information from the local feature points to the set of global feature tokens via cross attention; and
generate a set of new global feature tokens and new local feature points with modeled global context information for object detection and part segmentation, wherein the set of global feature tokens are initialized as at least two corners of a tightest bounding box of the 3D point cloud.