US 12,469,170 B2
Apparatus and method for detecting a 3D object
Hyun Kyu Lim, Seoul (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed on Oct. 17, 2022, as Appl. No. 17/967,534.
Claims priority of application No. 10-2022-0042186 (KR), filed on Apr. 5, 2022.
Prior Publication US 2023/0316569 A1, Oct. 5, 2023
Int. Cl. G06T 7/73 (2017.01); G06T 7/10 (2017.01)
CPC G06T 7/75 (2017.01) [G06T 7/10 (2017.01); G06T 2207/20084 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An apparatus for detecting a three-dimensional (3D) object, the apparatus comprising:
a camera;
storage; and
a processor configured to
obtain a two-dimensional (2D) image using the camera,
segment the 2D image to obtain feature information associated with a free space,
obtain feature information associated with an object included in the 2D image from the 2D image,
determine an attention score based on the feature information associated with the free space and the feature information associated with the object, using an attention mechanism, wherein the processor is configured to
compare the feature information associated with the free space with previously stored segmentation reference information to determine a segmentation loss for the feature information associated with the free space, and
extract a key from the feature information associated with the free space with regard to the segmentation loss, and
detect 3D location information of the object based on the attention score.