Three-dimensional target detection method, device and equipment

Abstract

The invention belongs to the technical field of computer vision, and particularly relates to a three-dimensional target detection method, device and equipment. The method comprises the following steps: acquiring image data of a target area, the image data being acquired by an image acquisition device based on a pinhole imaging principle; obtaining a query position of target query for the image data based on optical characteristics of the image data obtained by the image obtaining device, and sampling target characteristics from an image view angle and a bird's-eye view angle based on the query position to generate fusion characteristics, wherein initialization and feature sampling modes of the target query are aligned based on the optical characteristics; and performing three-dimensional target detection based on the fusion features. According to the invention, the accuracy of a query-based camera 3D target detection scheme can be improved and enhanced.

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