Method and apparatus for detecting avps marker

An apparatus comprising one or more processors and a memory operably connected to the one or more processors, wherein:

• the memory stores instructions causing the one or more processors to perform operations in response to execution of instructions by the one or more processors, and the operations comprise:
• receiving an image and preprocessing the image;
• extracting a feature map of the image through a backbone network;
• extracting a center point heatmap for a coded marker, a first feature map for a width and height of a bounding box, a second feature map for offsets for adjusting a center point, and a third feature map for corner points of the coded marker from the feature map using a plurality of head networks;
• generating candidate detection information comprising the bounding box and the corner points based on the center point heatmap, the first feature map, the second feature map, and the third feature map;
• and
• outputting final detection information by performing modified non-maximum suppression on the candidate detection information.