Target detection method and device and carrying tool
A target detection and target image technology, applied in neural learning methods, image data processing, instruments, etc., can solve the problems of limited lidar threads, affecting the accuracy of detection results, and high lidar cost, and achieve accurate 3D image detection information and reduce The effect of low inspection cost and replacement cost
Pending Publication Date: 2020-11-17
NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
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[0005] However, the above-mentioned existing technologies mainly have the following problems. The cost of lidar is high, and the threads of lidar are limited. The radar point cloud obtained at runtime is usually relatively sparse, which affects the accuracy of detection results.
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[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
[0042] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...
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The embodiment of the invention provides a target detection method and device and a carrying tool, and relates to the field of automatic driving, and the target detection method comprises the steps: obtaining a target image photographed by a binocular camera; performing depth calculation on the target image to obtain a depth map; performing coordinate conversion on the depth map to obtain point cloud data of the target image under a camera coordinate system; and performing target detection by applying the point cloud data to generate a detection result. The target detection method provided bythe embodiment of the invention is a pure visual perception method, three-dimensional target detection is realized through the binocular camera, the problems of high detection cost and limited detection precision in the prior art are relieved, the detection cost can be reduced, 3D picture detection information is more accurate, and the detection precision is improved.
Description
technical field [0001] The present invention relates to the field of unmanned driving, in particular, to a target detection method, device and vehicle. Background technique [0002] With the advancement of technology, autonomous driving has become a research hotspot, and people can easily obtain information about autonomous driving through the Internet. [0003] An autonomous vehicle is an intelligent vehicle that realizes unmanned driving through a computer system. Moreover, self-driving vehicles rely on the cooperation of artificial intelligence, cameras, radar and global positioning systems, so that vehicles can drive automatically without any active human intervention, and the detection of targets (such as vehicles, pedestrians, traffic signs, etc.) is unmanned. Key content for driving. [0004] At present, for target detection, lidar is mainly used in the prior art for three-dimensional detection, that is, radar point clouds are obtained by scanning the surrounding en...
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IPC IPC(8): G06K9/00G06N3/08G06T7/55G06T7/80G06T7/90
CPCG06T7/55G06T7/80G06T7/90G06N3/08G06T2207/10024G06T2207/20081G06T2207/20084G06T2207/10028G06V20/56G06V2201/07
Inventor 苏英菲
Owner NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD