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

A 3D target and detection system technology, applied in the field of target detection, can solve the problems of low detection accuracy, achieve the effect of improving detection accuracy, improving 3D target detection accuracy, and facilitating feature learning

Pending Publication Date: 2021-04-30
DONGFENG AUTOMOBILE COMPANY
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the problem of low detection accuracy and provide a 3D target detection system and detection method based on laser point cloud with high detection accuracy

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

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Embodiment 1

[0050] see figure 1 , figure 2 , a three-dimensional target detection system based on laser point cloud, the detection system includes a voxel size division module 1, a feature encoding module 2, a feature extraction and fusion module 3, a target regression and detection module 4, and a laser radar 5, the The signal output terminal of the laser radar 5 is connected with the signal input terminal of the target regression and detection module 4 through the voxel size division module 1, the feature encoding module 2, the feature extraction and fusion module 3 in turn;

[0051] The above-mentioned detection method of a three-dimensional target detection system based on laser point cloud, the detection method is carried out according to the following steps:

[0052] Step 1, the voxel size division module 1 first obtains the point cloud data of the three-dimensional target from the laser radar 5, and adopts the voxel scale of 0.1m*0.1m*0.4m and the voxel of 0.2m*0.2m*0.4m respecti...

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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...

Claims

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Application Information

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IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor 何薇郭启翔吴明瞭文进张路玉谢斌高宠智胡博伦
Owner DONGFENG AUTOMOBILE COMPANY
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