公开(公告)号：US20210042929A1

公开(公告)日：2021-02-11

申请号：US16968573

申请日：2019-04-19

Applicant: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES

Inventor： Xin ZHAO ,  Kaiqi HUANG ,  Zhe LIU

IPC: G06T7/10 ,  G06N3/08 ,  G06T15/00 ,  G06T7/00

Abstract: A three-dimensional object detection method includes: extracting a target in a two-dimensional image by a pre-trained deep convolutional neural network to obtain a plurality of target objects; determining a point cloud frustum in a corresponding three-dimensional point cloud space based on each target object; segmenting the point cloud in the frustum based on a point cloud segmentation network to obtain a point cloud of interest; and estimating parameters of a 3D box in the point cloud of interest based on a network with the weighted channel features to obtain the parameters of the 3D box for three-dimensional object detection. According to the present invention, the features of the image can be learned more accurately by the deep convolutional neural network and the parameters of the 3D box in the point cloud of interest are estimated based on the network with the weighted channel features.