Target detection method for unmanned driving, equipment and storage medium

Abstract

An embodiment of the invention provides a target detection method for unmanned driving, equipment and a storage medium. The target detection method comprises the steps of: collecting an original imagein an environment where an unmanned vehicle is located, carrying out feature extraction on the original image, and generating a feature map tensor; performing convolution operation on the feature maptensor by using a plurality of convolution layers, generating a plurality of first target feature map tensors in sequence, and performing deconvolution operation on the first target feature map tensors corresponding to the last convolution operation to generate a plurality of deconvolution feature map tensors, wherein the deconvolution feature map tensors are in one-to-one correspondence with thefirst target feature map tensors, and the sizes of feature maps in the deconvolution feature map tensors are equal to the sizes of feature maps in the first target feature map tensors; and generatinga target detection result according to the deconvolution feature map tensors and the first target feature map tensors. Therefore, the target detection precision is improved, the precise detection ofthe unmanned vehicle on the target object is realized, and the vehicle driving safety is improved.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to an object detection method, device and storage medium for unmanned driving. Background technique [0002] With the development of unmanned driving technology, more and more target recognition technologies are applied to the field of unmanned driving. By identifying the targets around the unmanned vehicle and locating the approaching vehicles or pedestrians, the unmanned vehicle is completed. driving controls. [0003] In the prior art, the Single Shot MultiBox Detector (SSD) network model can realize the recognition of the target object in the image by extracting feature maps of different scales in the image. [0004] However, when using the SSD network model to identify targets, the detection effect on small and medium-sized targets is poor, and there are problems of missed detection and false detection, resulting in the inability to accurately detect target objects and...

AI Technical Summary

Problems solved by technology

[0005] The invention provides a target detection method, equipment and storage medium for unmanned driving, which are used to solve the problems of poor detection effect and missed detection and false detection for medium and small-sized detection targets

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