The invention discloses a cross-
modal foreground
distillation method for multi-view three-dimensional target detection, and belongs to the technical field of automatic driving
perception. According to the method, a
laser radar or a multi-
modal three-dimensional target detection model is used as a teacher model, a multi-view aerial view BEV
perception three-dimensional target detection model is used as a student model, and the model performance is improved through multi-scale feature
distillation; a space attention mechanism and a foreground
mask module are introduced, and the student model can simulate feature responses of the teacher model in different space positions under multiple scales, focus on a foreground target and suppress
background noise; the adaptive module ensures the consistency of the multi-scale features in feature dimensions and spatial resolution, and finally, the difference between the features and regression output is measured through loss functions such as
mean square error and KL
divergence, so that efficient cross-
modal and multi-scale foreground feature
distillation is realized. Finally, the multi-view three-dimensional target detection precision and efficiency are improved, and meanwhile, the distillation requirements of multi-scale features are fully considered.