公开(公告)号：US10970518B1

公开(公告)日：2021-04-06

申请号：US16188879

申请日：2018-11-13

Applicant: Apple Inc.

Inventor： Yin Zhou ,  Cuneyt O. Tuzel ,  Jerremy Holland

IPC: G06K9/00 ,  G06T15/08 ,  G06T7/521 ,  G06K9/62 ,  G06T9/00

Abstract: A voxel feature learning network receives a raw point cloud and converts the point cloud into a sparse 4D tensor comprising three-dimensional coordinates (e.g. X, Y, and Z) for each voxel of a plurality of voxels and a fourth voxel feature dimension for each non-empty voxel. In some embodiments, convolutional mid layers further transform the 4D tensor into a high-dimensional volumetric representation of the point cloud. In some embodiments, a region proposal network identifies 3D bounding boxes of objects in the point cloud based on the high-dimensional volumetric representation. In some embodiments, the feature learning network and the region proposal network are trained end-to-end using training data comprising known ground truth bounding boxes, without requiring human intervention.