US 2026/0260473 A1Published application

Training apparatus, training method, and non-transitory computer-readable storage medium

AssigneeNEC Corporation

InventorsTsenjung TAI, Kenta SENZAKI, Masato TODA, Elji KANEKO

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Abstract

A training apparatus acquires a training data that includes a training image, first angle information, and a ground truth data. The first angle information indicates a first incident angle and a first azimuth angle. The training apparatus inputs the training image to a feature extracting model to acquire a first feature set. The training apparatus acquires second angle information (90), performs coordinate transformation on the first feature set based on the first angle information and the second angle information to generate a second feature set, and updates the feature extracting model based on the first feature set, the second feature set, and the ground truth data.

Claims22

Dependent claims

A training apparatus comprising:

at least one memory that is configured to store instructions;
and
at least one processor that is configured to execute the instructions to:
acquire a training data that includes a training image, first angle information, and a ground truth data, wherein the training image is an image on which an object is captured and which is generated by a sensor, and wherein the first angle information indicates a first incident angle that is an incident angle of the sensor and a first azimuth angle that is an azimuth angle of the object captured on the training image;
input the training image to a feature extracting model to acquire a first feature set that is a set of features extracted from the training image;
acquire second angle information that indicates a second incident angle and a second azimuth angle, wherein the second incident angle, the second azimuth angle, or both are different from counterparts thereof in the first angle information;
generate a second feature set by performing coordinate transformation on the first feature set based on the first angle information and the second angle information;
and
update the feature extracting model based on the first feature set, the second feature set, and the ground truth data.

6 more elements

A training method performed by a computer, comprising:

acquiring a training data that includes a training image, first angle information, and a ground truth data, wherein the training image is an image on which an object is captured and which is generated by a sensor, and wherein the first angle information indicates a first incident angle that is an incident angle of the sensor and a first azimuth angle that is an azimuth angle of the object captured on the training image;
inputting the training image to a feature extracting model to acquire a first feature set that is a set of features extracted from the training image;
acquiring second angle information that indicates a second incident angle and a second azimuth angle, wherein the second incident angle, the second azimuth angle, or both are different from counterparts thereof in the first angle information;
generating a second feature set by performing coordinate transformation on the first feature set based on the first angle information and the second angle information;
and
updating the feature extracting model based on the first feature set, the second feature set, and the ground truth data.

3 more elements

A non-transitory computer-readable storage medium storing a program that causes a computer to execute:

acquiring a training data that includes a training image, first angle information, and a ground truth data, wherein the training image is an image on which an object is captured and which is generated by a sensor, and wherein the first angle information indicates a first incident angle that is an incident angle of the sensor and a first azimuth angle that is an azimuth angle of the object captured on the training image;
inputting the training image to a feature extracting model to acquire a first feature set that is a set of features extracted from the training image;
acquiring second angle information that indicates a second incident angle and a second azimuth angle, wherein the second incident angle, the second azimuth angle, or both are different from counterparts thereof in the first angle information;
generating a second feature set by performing coordinate transformation on the first feature set based on the first angle information and the second angle information;
and
updating the feature extracting model based on the first feature set, the second feature set, and the ground truth data.

3 more elements

Dependencies are inferred from the claim text.