3d detection method, device, medium and vehicle based on fisheye camera

Abstract

The present application relates to the technical field of auxiliary driving, and particularly provides a 3D detection method and device based on a fisheye camera, a medium and a vehicle, aiming to solve the problem of how to effectively reduce the complexity of a prediction model while ensuring the accuracy of a 3D detection process based on a fisheye camera. To this end, the present application pre-establishes a horizontal coordinate system, which coincides with the origin of the camera coordinate system of the fisheye camera and is parallel to the ground plane formed by the x-axis and the z-axis. When a 3D detection model is applied to 3D target detection of image data collected by the fisheye camera, only the yaw angle of the horizontal coordinate system needs to be predicted, without simultaneously predicting the yaw angle, the pitch angle and the roll angle, thereby effectively reducing the complexity of model prediction while ensuring the prediction accuracy, and the obtained 3D detection result is also easier to be associated with the appearance in the image.

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