Method and apparatus for detecting target object in image

An apparatus for detecting a target object in an image, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, wherein the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations 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;
• 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
• 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.