| 摘要 |
A method for object detection comprises: receiving first sensor data (32) of a sensor (22, 24, 26, 28) observing a real scene comprising a real object (34), the first sensor data acquired at a first time instant; generating first object data (36) of the real object by performing an object detection algorithm on the first sensor data (32); identifying an object model (38) stored in a database (42) based on the first object data (36), the database (42) storing a plurality of predefined object models (38); including the identified object model (38) into an environment model (40) modeling the real scene, the environment model (40) comprising a position and/or an orientation of the real object (34) determined from the first object data (36); receiving second sensor data (32) of a sensor (22, 24, 26, 28) observing the real scene, the second sensor data (32) acquired at a second time instant; generating second object data (36) of the real object (34) by performing an object detection algorithm on the second sensor data (32); and identifying the second object data (36) with the identified object model (38) based on a position and/or orientation of the real object (34) determined from the second object data (36). |
