Vehicle detection method, device, computer equipment and readable storage medium

Abstract

The present application relates to a vehicle detection method, device, computer equipment and readable storage medium. The method includes acquiring RGB images for vehicle detection and 3D point cloud images corresponding to the RGB images respectively, and voxelizing the 3D point cloud images. , to obtain the voxels of the 3D point cloud image; feature extraction is performed on the voxels of the RGB image and the 3D point cloud image respectively, and the characteristics of the RGB image and the voxel of the 3D point cloud image are obtained; the voxels of the 3D point cloud image are The features of the image are mapped to the RGB image, and the features of the voxels of the 3D point cloud image mapped to the RGB image are spliced ​​with the features of the RGB image to obtain the processed image features; the processed image features are input into the semantic segmentation model , and detect the target vehicle in the 3D point cloud image according to the semantic segmentation results, this method improves the accuracy of the 3D Accuracy of object vehicle detection in point cloud images.

Description

technical field [0001] The present application relates to the field of computer vision, in particular to a vehicle detection method, device, computer equipment and readable storage medium. Background technique [0002] Semantic segmentation of images refers to classifying the pixels belonging to the same category of objects in the image for a given image. In the vehicle detection task, the semantic segmentation of the image of the area to be detected is performed first, and then the vehicle is detected, which is helpful to improve the detection accuracy of the vehicle. [0003] In the traditional technology, in the vehicle detection task, the semantic segmentation of the image of the area to be detected is mostly performed on the RGB image alone. Although the RGB image has high resolution and rich color information, it is very limited in helping to detect the precise position of the vehicle; in addition, There are also some technologies that focus on semantic segmentation o...

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a vehicle detection method, device, computer equipment and readable storage medium for the problem that the traditional vehicle detection method cannot accurately detect vehicles in the area to be detected.

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