US 11,776,155 B2
Method and apparatus for detecting target object in image
Xiaoqing Ye, Beijing (CN); Xiao Tan, Beijing (CN); Wei Zhang, Beijing (CN); Hao Sun, Beijing (CN); and Errui Ding, Beijing (CN)
Assigned to Beijing Baidu Netcom Science and Technology Co., Ltd., Beijing (CN)
Filed by Beijing Baidu Netcom Science and Technology Co., Ltd., Beijing (CN)
Filed on Jun. 5, 2020, as Appl. No. 16/894,123.
Claims priority of application No. 201911259327.X (CN), filed on Dec. 10, 2019.
Prior Publication US 2021/0174537 A1, Jun. 10, 2021
Int. Cl. G06T 7/73 (2017.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01); G06T 7/70 (2017.01); G06T 11/20 (2006.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06V 20/64 (2022.01); G06V 10/25 (2022.01); G06F 18/24 (2023.01); G06F 18/214 (2023.01)
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
OG exemplary drawing
 
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.