Patent ID: 11900618
Assignee: ZHEJIANG LAB
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 7:
8. The system for detecting the moving target based on multi-frame point clouds according to claim 1, wherein the identification module obtains a coordinate of a center point of the target, a moving direction of the center point of the target, an offset of the center point of the target, a length, a width and a height of the target, and an altitude of the target and category information of the target, respectively, by a group of convolutional neural networks; and
wherein in a training stage, the coordinate of the center point of the target is detected using a Focal loss function; the moving direction of the center point of the target is detected using a L1_loss function to regress a sine value and a cosine value of the moving direction of the center point of the target; the offset of the center point of the target is regressed using the L1_Loss function; a predicted trajectory of the center point of the target is regressed using the L1_Loss function; and the length, the width, the height and the altitude of the target are regressed using a SmothL1_loss function, wherein different weights are assigned to losses of different detection branches, and finally a trained model is obtained.