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Vehicle detection method, device, equipment and medium

A vehicle detection and detection technology, which is applied in the field of vehicle detection, can solve the problems of inaccurate vehicle detection and improve the difficulty of detector positioning

Pending Publication Date: 2022-03-04
SUZHOU LANGCHAO INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This data characteristic increases the difficulty of the detector's recognition of the vehicle and the positioning of the overall frame, resulting in inaccurate vehicle detection

Method used

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  • Vehicle detection method, device, equipment and medium
  • Vehicle detection method, device, equipment and medium
  • Vehicle detection method, device, equipment and medium

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Embodiment Construction

[0053] 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.

[0054] In the existing single-stage detectors based on voxelized point cloud representation, the position and attitude of the target vehicle are usually represented by a 3D box that tightly wraps the vehicle as a whole. Since the laser cannot pass through the vehicle, the point cloud data obtained by the LiDAR sensor cannot cover the entire surface of the vehicle. At the same time, due to the occlusion between other objects or vehicles, only a part of the overall frame of the target...

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Abstract

The invention discloses a vehicle detection method, apparatus and device, and a medium. The method comprises the steps of inputting training data into a vehicle detection model; the training data comprises LiDAR point cloud data and an overall frame marked for the vehicle; determining effective LiDAR points in the overall frame from the LiDAR point cloud data, and generating a 3D visible frame corresponding to the target vehicle by using the effective LiDAR points of the target vehicle; calculating a first classification loss, a first pose regression loss and an orientation loss corresponding to the overall frame according to the anchor point frame, and a second classification loss and a second pose regression loss corresponding to the 3D visible frame; comprehensive training loss is calculated; when the comprehensive training loss converges, taking the current vehicle detection model as a trained model; and when to-be-detected LiDAR point cloud data is obtained, outputting a vehicle detection result corresponding to the to-be-detected LiDAR point cloud data by using the trained model. The accuracy of vehicle detection can be improved.

Description

technical field [0001] The present application relates to the technical field of vehicle detection, in particular to a vehicle detection method, device, equipment and medium. Background technique [0002] With the rapid development of artificial intelligence algorithms, autonomous driving perception technology has made great progress. Autonomous vehicles need to accurately identify vehicles in the environment and precisely locate them in order to complete subsequent high-level tasks such as path planning and collision avoidance. Compared with the vehicle detection algorithm based on image data, the vehicle detection algorithm based on LiDAR (Light Detection and Ranging, laser detection and ranging system) sensor data can quickly identify the vehicle and accurately estimate the 3D position of the vehicle. More and more car companies and autonomous driving research institutions use LiDAR data to identify and locate vehicles in autonomous driving scenarios. [0003] The exist...

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Application Information

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IPC IPC(8): G06V10/774G06V10/764G06K9/62
CPCG06F18/214G06F18/24Y02T10/40
Inventor 赵云
Owner SUZHOU LANGCHAO INTELLIGENT TECH CO LTD