Three-dimensional object detection method and device, electronic equipment and storage medium

Abstract

The invention provides a three-dimensional object detection method and device, electronic equipment and a storage medium. The method comprises the following steps: 1, preparing raw materials; receiving to-be-detected point cloud data sent by the laser radar, performing feature extraction processing on the point cloud data to be measured according to a preset tensor model and a neural network model; generating an initial feature map according to the extracted features; capturing dense features corresponding to the feature map according to a preset dense feature indicator; generating a target feature map according to the dense features; determining information of a three-dimensional object corresponding to the to-be-measured point cloud data according to the target feature map, controlling the moving state of the automatic driving equipment is controlled according to the information of the three-dimensional object, and capturing the dense features are captured according to the dense feature indicator, so that the feature extraction accuracy can be improved, and defect checking and leakage repairing can be realized, thereby ensuring the technical effect of safe and reliable driving ofthe automatic driving equipment.

Description

technical field [0001] The present disclosure relates to the technical field of recognition and detection, in particular to the technical field of three-dimensional object recognition, and in particular to a three-dimensional object detection method and device, electronic equipment, and a storage medium. Background technique [0002] With the rapid development of sensors such as lidar and application requirements in the fields of autonomous driving and robotics, point cloud-based 3D object detection has become more and more popular. Many detection methods have been proposed in academia now, and these methods can be divided into three categories: point-based, point-tensor-based and tensor-based. [0003] In the prior art, the point-based method [PointRCNN] performs 3D object detection by directly using raw point cloud data to avoid loss of geometric details; the point-tensor-based method [STD][Fast Point] will The speed advantage of , is integrated into the point-based metho...

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Problems solved by technology

[0005] The present disclosure provides a three-dimensional object detection method and device, electronic equipment, and a storage medium to solve the problem in the prior art that the detection result is not accurate because the two-dimensional object detector adopts a uniform method to extract features. Problems that make the safety and reliability of autonomous driving equipment low

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