The present invention discloses a
laser point cloud three-dimensional target detection model and method for complex traffic scenes. The three-dimensional
encoder in the model is conducive to the detection of long-distance targets and small targets. Sparse
convolution and submanifold
convolution can greatly improve the coding efficiency of
voxel features. The residual structure of the two-dimensional
encoder can maintain more complete information, which is conducive to the detection of long-distance targets and small targets. At the same time, the network is easier to optimize. Through self-calibration
convolution,
feature extraction can be performed at the original scale and self-calibration scale respectively, the
receptive field is expanded, and more complete and rich features are extracted. Through spatial attention and channel attention, useful feature expression is enhanced in the
spatial direction and channel direction, and useless information is suppressed. The final detection accuracy of the present invention is 81.88% for vehicles, 47.82% for pedestrians, and 69.81% for cyclists. The average accuracy is 66.25%, which is 9.9% higher than the existing
VOXEL RCNN
algorithm. 13.8FPS is achieved on the RTX 2080Ti display. The detection accuracy and speed can meet the
perception needs of smart cars in complex traffic environments.