Target detection method and device based on point cloud data
A technology for target detection and point cloud data, which is applied in the field of target detection and can solve problems such as poor detection performance
Pending Publication Date: 2020-10-30
BEIJING TUSEN ZHITU TECH CO LTD
View PDF0 Cites 9 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the target detection through the above-mentioned existing target detection networks has the problem of poor detection performance.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0029] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. 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.
[0030] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having", as well as any variations the...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a target detection method and device based on point cloud data, and relates to the technical field of target detection. The method comprises the following steps: obtaining original point cloud data and each initial target detection box output by an initial target detection network, and obtaining information of each initial target detection box; extracting point clouds in a preset box range around each initial target detection box from the original point cloud data; generating input data of a neural network according to points in the original point cloud data in each initial target detection frame, points in point cloud in a preset frame range outside the initial target detection frame and the information of each initial target detection frame; and inputting the inputdata into a pre-trained neural network for processing, and obtaining a detection box result and a target category result corresponding to each initial target detection box according to the output ofthe pre-trained neural network. According to the embodiment of the invention, the target detection performance can be improved.
Description
technical field [0001] The present application relates to the technical field of object detection, and in particular to an object detection method and device based on point cloud data. Background technique [0002] At present, with the development of autonomous driving technology and mobile robot technology, lidar equipment has been widely used in autonomous vehicles and mobile robots. In order to ensure the normal operation of self-driving vehicles and mobile robots, it is generally necessary to collect point cloud data of the surrounding environment through lidar to help self-driving vehicles and mobile robots perceive their surrounding environment. In order to better perceive their surrounding environment, current self-driving vehicles and mobile robots generally need to perform target detection on various objects in their surrounding environment. One of the ways is through the point cloud data collected by lidar. [0003] At present, in the existing technology, there a...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/32G06K9/46G06N3/04G06N3/08
CPCG06N3/08G06V10/25G06V10/44G06V2201/07G06N3/045
Inventor 李智超王乃岩
Owner BEIJING TUSEN ZHITU TECH CO LTD