Method, apparatus and computer-readable storage medium for predicting target object

An apparatus for predicting a target object, comprising:

• a memory storing a computer program;
• and
• a processor coupled to the memory, wherein the processor, when executing the computer program, causes the processor to implement a method comprising:
• performing a first voxelization on a plurality of first points included in a point cloud to obtain a plurality of first voxels;
• predicting, based on the plurality of first voxels, a plurality of second points, wherein each of the plurality of second points represents a prediction of a center of the target object by a first point;
• performing a second voxelization on the plurality of first points and the plurality of second points to obtain one or more second voxels and one or more third voxels;
• and
• predicting, based on the one or more third voxels, the target object,
• wherein the one or more second voxels correspond to the plurality of first points and the one or more third voxels correspond to the plurality of second points.

A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores a computer program which when executed by a processor implements a method for predicting a target object, the method comprising:

• performing a first voxelization on a plurality of first points included in a point cloud to obtain a plurality of first voxels;
• predicting, based on the plurality of first voxels, a plurality of second points, wherein each of the plurality of second points represents a prediction of a center of the target object by a first point;
• performing a second voxelization on the plurality of first points and the plurality of second points to obtain one or more second voxels and one or more third voxels;
• and
• predicting, based on the one or more third voxels, the target object,
• wherein the one or more second voxels correspond to the plurality of first points and the one or more third voxels correspond to the plurality of second points.