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

Claim 16:
17. A non-transitory computer readable storage medium having embodied thereon a program, wherein the program is executable by a processor to perform a method of object detection and part segmentation, the method comprising:
generating a three-dimensional (3D) point cloud including a plurality of points in a volume of a space of the point cloud based on receiving point cloud data;
initially obtaining, with a global transformer, a set of global feature tokens to model global context of the 3D point cloud and local feature points of the 3D point cloud;
enforcing with the global transformer an attention mechanism information flow across the set of global feature tokens and local feature points including 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
generating, with the global transformer that is utilized for object detection and part segmentation, a set of new global feature tokens and new local feature points with modeled global context information based on the attention mechanism information flow.