The invention discloses an AGV (Automatic Guided Vehicle) three-dimensional obstacle detection method and
system based on an improved PointPill multi-
modal fusion
algorithm, which introduces an ECA lightweight attention mechanism in a
point cloud coding stage, enhances key geometric features, alleviates the insufficiency of sparse
point cloud information, and reduces the calculation complexity and parameter quantity of the attention mechanism. A ConvNeXt V2 module is added in the
point cloud backbone network, all feature channels are fully utilized, and the
feature learning ability of the
backbone network is improved. According to the method, the
BotNet algorithm is used for carrying out
feature extraction on the
RGB image, in the deep
convolution process, the global context modeling capacity is enhanced in a self-attention mode, the relation between the overall composition of the image and different object parts is better understood, and a more accurate classification decision is made. And finally, realizing bidirectional interaction between the point cloud features and the
RGB image features by using a feature bidirectional fusion interactive fusion network, fully mining complementary information, realizing effective integration of two kinds of
modal information, and improving obstacle detection precision.