Target detection method and target detection device

A target detection and target object technology, applied in image data processing, instruments, calculations, etc., can solve the problem of low detection accuracy, unable to ensure safe driving of unmanned equipment, and unable to accurately determine the position of obstacles around unmanned equipment. posture, etc.

Pending Publication Date: 2020-05-08
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology

[0003] Among them, the obstacle detection based on lidar mainly depends on the lidar sensor installed on the unmanned equipment, through which the obstacles around the unmanned equipment and the movement of each obstacle can be accurately detected, but , the cost of this sensor is often too high, which increases the cost of obstacle detection through lidar
[0004] Compared with the lidar method, the cost of obstacle detection by visual ...

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  • Target detection method and target detection device
  • Target detection method and target detection device
  • Target detection method and target detection device

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Embodiment Construction

[0043] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0044] In practical applications, unmanned driving equipment can collect images during driving to obtain image data, and then convert the image data to obtain pseudo point cloud data. The pseudo point cloud data mentioned here does not refer to the actual point cloud data collected by lidar, but the data similar to point cloud obtained by converting t...

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Abstract

The invention discloses a target detection method and a target detection device. The method comprises the following steps: acquiring image data, determining position information and size information of a target object in the image data for each target object contained in the image data, inputting the position information and the size information of the target object in the image data into a presetfirst pose estimation model, estimating pose information of the target object to serve as a first pose, determining a correction amount for the first pose according to the first pose and the image data, and correcting the first pose through the correction amount to obtain an actual pose corresponding to the target object. It can be guaranteed that unmanned equipment carries out safe driving basedon the determined accurate actual pose of the target object.

Description

technical field [0001] The present application relates to the technical field of unmanned driving, and in particular to a method and device for target detection. Background technique [0002] With the continuous development of unmanned driving technology, the detection of obstacles around unmanned equipment becomes more and more important. At present, there are mainly two types of obstacle detection technologies used in unmanned driving equipment. One is to detect obstacles through lidar, and the other is to detect obstacles through visual image analysis. [0003] Among them, the obstacle detection based on lidar mainly depends on the lidar sensor installed on the unmanned equipment, through which the obstacles around the unmanned equipment and the movement of each obstacle can be accurately detected, but , the cost of this sensor is often too high, which increases the cost of obstacle detection through lidar. [0004] Compared with the lidar method, the cost of obstacle d...

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Application Information

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IPC IPC(8): G06T7/70
CPCG06T7/70G06T2207/10016G06T2207/10028
Inventor 高红星史信楚夏华夏
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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