Three-dimensional target detection system based on laser point cloud and detection method thereof

Abstract

The invention relates to a three-dimensional target detection system based on laser point cloud; the system comprises a voxel size division module, a feature coding module, a feature extraction and fusion module, a target regression and detection module and a laser radar. The output end of the laser radar is connected with the input end of the target regression and detection module through the voxel size division module, the feature coding module and the feature extraction and fusion module in sequence, and during use, firstly, the voxel size division module performs voxel division on a three-dimensional target point cloud obtained from the laser radar by adopting different voxel scales; a plurality of voxelized point clouds are obtained, then feature coding is performed on the plurality of voxelized point clouds by a feature coding module; feature extraction and fusion are performed on the coded voxelized point clouds by a feature extraction and fusion module to obtain a final feature map; and finally, a three-dimensional target detection box is obtained by a target regression and detection module according to the final feature map. The design can guarantee that the structural features of the point cloud are not lost, and improves the detection precision of the three-dimensional target.

Description

technical field [0001] The invention belongs to the technical field of target detection, and in particular relates to a laser point cloud-based three-dimensional target detection system and a detection method thereof, which are suitable for improving the detection accuracy of three-dimensional targets. Background technique [0002] With the wide application of lidar in unmanned driving, the 3D target detection method based on point cloud will become the mainstream research direction in the future. On the one hand, the existing 3D target detection method based on point cloud usually only needs to Using a single voxel size division, the single voxel size setting is easy to lose some local structure of the point cloud data, which is not enough to represent all the available information in the detection scene, which reduces the detection accuracy. On the other hand, the voxelized point cloud data is characterized. The positional relationship between points is not considered duri...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the problem of low detection accuracy and provid

Images