Three-dimensional object detection method, device and equipment and storage medium

Abstract

The invention discloses a three-dimensional object detection method, device and equipment and a storage medium, relates to the technical field of target detection, and discloses a three-dimensional object detection method comprising the following steps: obtaining a left eye image and a right eye image of a three-dimensional object collected by a binocular camera, performing depth estimation on the left eye image and the right eye image through a binocular depth estimation network to obtain a depth map; obtaining two-dimensional pixel data of the depth map and parameter information of a binocular camera, and converting the two-dimensional pixel data into three-dimensional point cloud data according to the parameter information; projecting the three-dimensional point cloud data to a bird's-eye view, and fusing the left eye image, the right eye image and the bird's-eye view to obtain three-dimensional object fusion data; and detecting the three-dimensional object fusion data through a target three-dimensional object detection network to obtain a three-dimensional object target detection result. The high-precision detection of the three-dimensional object is realized under the condition of not depending on laser radar data.

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