公开(公告)号：US20250166325A1

公开(公告)日：2025-05-22

申请号：US18744541

申请日：2024-06-14

Applicant: QUALCOMM Technologies, Inc.

Inventor： Hongyu WU ,  Pengwan YANG ,  Yuki Markus ASANO ,  Cornelis Gerardus Maria SNOEK

IPC: G06T19/20 ,  G06V10/77 ,  G06V10/82

Abstract: A processor-implemented method includes obtaining, with a backbone artificial neural network, an original feature map of point cloud data. The method also includes deforming the point cloud data, with a deformation artificial neural network, into a number of deformed point cloud objects based on the original feature map of point cloud data. The method further includes combining the deformed point cloud objects into a mixed point cloud. The method still further includes extracting, with the backbone artificial neural network, a mixed feature map from the mixed point cloud. The method includes extracting a number of deformed feature maps from the deformed point cloud objects. The method still further includes computing, with a contrastive module, a loss for the backbone artificial neural network and for the deformation artificial neural network based on the mixed feature map and the deformed feature maps.