公开(公告)号：US20240135576A1

公开(公告)日：2024-04-25

申请号：US18274679

申请日：2022-02-08

Applicant: Microsoft Technology Licensing, LLC

Inventor： Zheng Zhang ,  Han Hu ,  Yue Cao ,  Xin TONG ,  Ze Liu

IPC: G06T7/73 ,  G06T7/62 ,  G06T7/90 ,  G06T17/00 ,  G06V10/44 ,  G06V20/64

CPC classification number: G06T7/73 ,  G06T7/62 ,  G06T7/90 ,  G06T17/00 ,  G06V10/44 ,  G06V20/64 ,  G06V2201/07

Abstract: According to implementations of the subject matter described herein, a solution is proposed for three-dimensional (3D) object detection. In this solution, feature representations of a plurality of points are extracted from point cloud data related to a 3D object. Initial feature representations of a set of candidate 3D objects are determined based on the feature representations of the plurality of points. Based on the feature representations of the plurality of points and the initial feature representations of the set of candidate 3D objects, a detection result for the 3D object is generated by determining self-correlations between the set of candidate 3D objects and cross-correlations between the plurality of points and the set of candidate 3D objects. In this way, without grouping points into candidate 3D objects, the 3D object in a 3D scene can be localized and recognized based on the self-correlations and cross-correlations.