CPC G06T 7/73 (2017.01) [G06F 18/214 (2023.01); G06F 18/24 (2023.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); G06T 7/70 (2017.01); G06T 11/20 (2013.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06V 20/647 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2210/12 (2013.01)] | 17 Claims |
1. A method for detecting a target object in an image, the method comprising:
performing following prediction operations using a pre-trained neural network:
detecting the target object in a two-dimensional image to determine a two-dimensional bounding box of the target object; and
determining a relative position constraint relationship between the two-dimensional bounding box of the target object and a three-dimensional projection bounding box obtained by projecting a three-dimensional bounding box of the target object into the two-dimensional image; and
the method further comprising:
determining the three-dimensional projection bounding box of the target object, based on the two-dimensional bounding box of the target object and the relative position constraint relationship between the two-dimensional bounding box of the target object and the three-dimensional projection bounding box;
wherein determining the relative position constraint relationship between the two-dimensional bounding box of the target object and the three-dimensional projection bounding box obtained by projecting the three-dimensional bounding box of the target object into the two-dimensional image, comprises:
determining values of parameters in a preset parameter group corresponding to the target object;
wherein, the preset parameter group comprises at least two first parameter pairs and at least four second parameters;
wherein each of the first parameter pairs respectively represents a relative position of a vertex of the three-dimensional bounding box and the two-dimensional bounding box, and two parameters in the first parameter pair respectively represent: a relative position of a vertex on the three-dimensional bounding box and two vertices in a height direction of the two-dimensional bounding box, and a relative position of a vertex on the three-dimensional bounding box and two vertexes in a width direction of the two-dimensional bounding box; and
wherein each of the second parameters respectively represents a relative position of a vertex of the three-dimensional projection bounding box in a width or height direction of the two-dimensional bounding box, and two vertices of the two-dimensional bounding box in a same direction, and any one of the first parameter pairs and any one of the second parameters represent positions of different vertices of the three-dimensional projection bounding box relative to the two-dimensional bounding box.
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