The application discloses a cotton bale detection method based on multi-
modal data
timestamp synchronization and GPU / CPU collaborative acceleration, collects multi-
modal data, marks timestamps, and performs GPU accelerated
distortion correction on cotton bale images; the multi-
modal data is synchronized and integrated according to timestamps; a main program adopts Nodelet combined with C++ multi-threading technology to process the reception of multi-
modal data and the publication of multi-modal sensor coordinate systems in parallel, the main program running optimizes the transmission efficiency of multi-
modal data; a cotton bale detection model is constructed, the optimized multi-
modal data are input for training, the cotton bale detection model after training is optimized using TensorRT, and cotton bale images are input for
inference, cotton bale target recognition data are obtained and transmitted to a CPU for post-
processing operation, and OpenMP is used to accelerate
point cloud traversal in the main program to match the cotton bale target recognition data with
laser radar point cloud data; the matched multi-modal data are subjected to
point cloud feature and
plane fitting calculation, and the rectangular frame,
pose information and
score of the cotton bale target are obtained.