The invention discloses a
laser radar 3D real-time target detection method fusing multi-
frame time sequence point cloud. Complementing the known
data set which contains the continuous frame
point cloud and is incompletely labeled by the large-
occlusion target by using a projection labeling complementing method; an MADet
network structure is constructed; performing registration and voxelization onthe multiple frames of
time sequence point clouds to generate multiple frames of aerial views; inputting the multiple frames of aerial views into a
feature extraction module to generate multiple frames of initial feature maps; generating corresponding
feature description for the multiple frames of initial feature maps, calculating a feature weight map, and performing weighted fusion to obtain a fused feature map; and fusing the multi-scale features of the fused feature map by using the feature
pyramid, and returning the position, size and orientation of the target on the final feature map. According to the method, the problem of data sparseness of single-frame
point cloud can be effectively solved, high accuracy is obtained in target detection under severe shielding and long distance, theprecision higher than that of single-frame detection is achieved, the
network structure is simplified, the calculation cost is low, and the real-time performance is high.