3D target detection method and device, electronic equipment and medium
A target detection and 3D technology, applied in the field of target detection, can solve the problem of low 3D target detection accuracy, and achieve the effect of improving loss calculation accuracy, improving accuracy and robustness
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment 1
[0049] This application provides a 3D object detection method, referring to figure 1 ,include:
[0050]S1. Acquiring image data and laser point cloud data in the scene.
[0051] S2. According to the image data, perform feature processing to generate bird's-eye view features.
[0052] S3. Perform feature processing according to the laser point cloud data to generate laser point cloud features.
[0053] S4. Perform feature fusion of the bird's-eye view feature and the laser point cloud feature to obtain the fused feature.
[0054] S5. According to the fused features, time-series feature extraction is performed through a time-series neural network, and feature decoding is performed to obtain a 3D target frame.
[0055] S6. Perform loss calculation on the 3D target frame, where the loss calculation at least includes overlap loss calculation.
[0056] Specifically, the above steps are mainly based on the overall architecture of the 3D target detection method for autonomous driv...
Embodiment 2
[0080] Corresponding to the above-mentioned embodiments, the present application also provides a 3D object detection device, referring to Figure 4 , the device includes: a data acquisition module, an image processing module, a laser point cloud processing module, a feature fusion module, a time series module and a loss calculation module.
[0081] Among them, the data acquisition module is used to acquire image data and laser point cloud data in the scene; the image processing module is used to perform feature processing according to the image data to generate bird's-eye view features; the laser point cloud processing module is used to The laser point cloud data is subjected to feature processing to generate a laser point cloud feature; a feature fusion module is used to perform feature fusion of the bird's-eye view feature and the laser point cloud feature to obtain a fused feature; a time series module, It is used to extract time-series features through a time-series neural...
Embodiment 3
[0089]Corresponding to the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the above-mentioned 3D object detection method can be realized.
[0090] Such as Figure 5 As shown, in some embodiments, the system can be used as the above-mentioned electronic device in any one of the above-mentioned embodiments for the 3D object detection method. In some embodiments, a system may include one or more computer-readable media (e.g., system memory or NVM / storage devices) having instructions and coupled to the one or more computer-readable media and configured to execute the instructions to One or more processors (eg, processor(s)) that implement a module such that the actions described in this application are performed.
[0091] For one embodiment, the system control module may include any suitable ...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More