公开(公告)号：US20240193788A1

公开(公告)日：2024-06-13

申请号：US18496532

申请日：2023-10-27

Applicant: SOUTH CHINA NORMAL UNIVERSITY

Inventor： Xiaoyu TANG ,  Qunyuan CHEN

IPC: G06T7/162

CPC classification number: G06T7/162 ,  G06T2207/10028 ,  G06T2207/20021 ,  G06T2207/20076 ,  G06T2207/20084 ,  G06T2207/20221 ,  G06T2207/30196 ,  G06T2207/30261

Abstract: Disclosed are a method, device, computer system for detecting pedestrians based on 3D point clouds. The method includes: obtaining the spatial radar point cloud data of area to be detected; dividing the spatial radar point cloud data to obtain a plurality of 3D voxel grid cells according to a preset unit of voxel; encoding the plurality of 3D voxel grid cells and obtaining the voxel encoded data of the plurality of radar point cloud data; obtaining a first feature map and a second feature map based on a predetermined sparse convolutional backbone network and self-attention transformation network; and performing fusing processing for a fused feature map to input into a predetermined pedestrian detection model for pedestrian detection to obtain the pedestrian detection information of the area to be detected. The present disclosure enables more comprehensive pedestrian detection in the area to be detected with improved accuracy.