Target detection method and target detection device

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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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 image analysis is lower. However, when using visual image analysis to detect obstacles around unmanned equipment, the detection accuracy is higher than that by The method of lidar is also low, especially in practical applications, the use of visual image analysis often cannot accurately determine the position and posture of obstacles around the unmanned equipment, so it will not be able to guarantee the safety of unmanned equipment driving

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