Title:
METHOD AND DEVICE FOR 3D OBJECT DETECTION
Document Type and Number:
WIPO Patent Application WO/2021/212420
Kind Code:
A1
Abstract:
A method and device for 3D object detection. The method comprises the steps of: generating one or more fused images(201) based on a pair of images(530), the pair of images (530) including a left view image(101,710a) and a right view image(102,710b); extracting one or more fused features from the fused images(201) by a single backbone network(210) of a share network with feature unmixing (SNFU,540); unmixing the fused features to a left view-aware feature and a right view-aware feature by a feature unmixing sub-network(220) of the SNFU(540); predicting the 3D object based on the left view-aware feature and the right view-aware feature; and determining spatial features of the predicted 3D object. The proposed method and device can reduce the computation complexity to the level of that in monocular based 2D object detection so as to improve the computation efficiency while keeping high precision. In addition, the PCNet network for depth estimation can achieve the competitive performance on accuracy and high speed simultaneously when predicting the depth of the 3D object.
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Inventors:
LI YAZHAO (CN)
JIA DAYU (CN)
JIA DAYU (CN)
Application Number:
PCT/CN2020/086439
Publication Date:
October 28, 2021
Filing Date:
April 23, 2020
Export Citation:
Assignee:
NOKIA TECHNOLOGIES OY (FI)
NOKIA TECH BEIJING CO LTD (CN)
NOKIA TECH BEIJING CO LTD (CN)
International Classes:
G06T7/00
Domestic Patent References:
| WO2020056431A1 | 2020-03-19 |
Foreign References:
| US20180038689A1 | 2018-02-08 | |||
| CN110543858A | 2019-12-06 | |||
| US20170038466A1 | 2017-02-09 | |||
| US20190188451A1 | 2019-06-20 | |||
| US20190392192A1 | 2019-12-26 |
Other References:
See also references of EP 4139838A4
Attorney, Agent or Firm:
ZHONGZI LAW OFFICE (CN)
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