Methods for performing multi-view object detection by using homography attention module and devices using the same

Abstract

A method for training a homography attention module (HAM) to perform multi-view object detection includes steps of: generating, from an i-th feature map corresponding to each of multiple training images representing multi-views of a target space, a 1-st to a d-th channel attention map for determining channel attention scores each channel included in the i-th feature map has for each of a 1-st to a d-th height plane of the target space, generating a 1-st to a d-th channel refined feature map by referring to channels with top k channel attention scores for each height, element-wisely multiplying them with corresponding spatial attention map generated therefrom to produce a 1-st to a d-th spatial refined feature map, and then homographically transforming them onto corresponding height plane and aggregating them to generate a BEV occupancy heatmap, which is used with its GT for training.