Abstract: A method for model training, an image edge detection method, a multi-sensor calibration method, a computer program product, and a computer device is disclosed. The model is used to generate occlusion relationships between pixel pairs. The model training method comprises: constructing an initial model; obtaining multiple training images and reference annotation results for each training image, wherein each training image comprises RGB features and depth features, and the reference annotation results for each training image are annotation results of occlusion relationships between adjacent pixel pairs in said training image generated based on the depth features of said training image; respectively using the RGB features of the multiple training images as inputs to the initial model, using the reference annotation results corresponding to the input training images as outputs of the initial model, and training the initial model to obtain a well-trained model.