Target detection method and device, electronic equipment and storage medium

Abstract

The invention provides a target detection method and apparatus, an electronic device and a storage medium. The method comprises the steps of obtaining a target point cloud sequence; inputting the target point cloud sequence into a three-dimensional target detection model, and obtaining a three-dimensional target detection result corresponding to the target point cloud sequence; the three-dimensional target detection model is obtained by training a virtual sample and a real sample; the pseudo label corresponding to the real sample is determined based on a first prediction result and a second prediction result, the first prediction result is obtained by predicting the real sample data through a pre-trained three-dimensional target detection model, and the second prediction result is obtained by spreading the first prediction result along the time dimension. According to the embodiment of the invention, the second prediction result can be obtained by propagating the first prediction result along the time dimension, and then the pseudo tag can be obtained based on the first prediction result and the second prediction result, so that the three-dimensional target detection model can be trained without manually annotating data, and a better detection effect is achieved.

Description

technical field [0001] The present invention relates to the field of computer technology, and in particular, to a target detection method, device, electronic device and storage medium. Background technique [0002] Two-dimensional target detection can only provide two-dimensional position information of objects in pictures. Nowadays, with the rapid development of application fields such as unmanned vehicles, intelligent robots, augmented reality and security and border defense, information of objects in three-dimensional space is often required. In order to more accurately locate and identify the target. The input of 3D object detection is 2D image or 3D data, and the output of 3D object detection is the position of object bounding box in 3D space and the classification result. [0003] In the prior art, most 3D-related tasks such as unmanned driving use lidar point cloud data to obtain more accurate 3D spatial information. Since the point cloud data is different from the ...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a target detection method, device, electronic equipment and storage medium to solve the defect that the acquisition of three-dimensional target detection data annotation is difficult in the prior art , realize the training to obtain the 3D target detection model without manual labeling data, and achieve better detection results

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