The invention discloses a 3D
vehicle detection method based on multi-
sensor fusion, and the method comprises the steps: Step 1, obtaining the
semantic information (i.e., an
RGB image) of a vehicle through a camera installed on the vehicle, carrying out the scanning of the surrounding environment of the vehicle through a
laser radar located at the top of the vehicle, and obtaining the precise depthinformation (i.e.,
laser radar point cloud) of the environment; Step 2, preprocessing the
laser radar point cloud, taking Z-axis [0, 2.5] m according to the height of the automobile, and equally dividing the
point cloud into five height slices along the Z-axis direction; Step 3, generating a 3D vehicle
region of interest on the laser radar point cloud; Step 4, performing
feature extraction on theprocessed radar point cloud and
RGB image and generating corresponding feature maps; Step 5, respectively mapping the 3D vehicle
region of interest to feature maps of the point cloud and the
RGB image; and Step 6, fusing the feature maps of the mapping part in the step 5, and finally realizing 3D positioning and detection of the vehicle target.