The invention belongs to the technical field of
computer vision, and relates to a dynamic scene online calibration method and
system for three-dimensional target detection. The method comprises the following steps: firstly, acquiring a 3D
point cloud around a vehicle, an initial external parameter and a synchronous image, and
processing the 3D
point cloud, the initial external parameter and the synchronous image by a bimodal static
mask generation module to obtain a static region probability graph; calculating a multi-scale residual error of the image and the
LiDAR edge image in a static region through a static region fusion module; a historical
time sequence modeling module is used to generate
time sequence fusion features; performing external parameter correction through a coarse-fine multi-stage external parameter correction module; and finally, according to the predicted external parameters, performing three-dimensional target detection through an image-
point cloud bidirectional enhancement module in combination with Transform. Full-scene self-adaptive calibration is achieved, the invalid calibration rate is reduced by 67%, permanent deformation and temporary interference of the sensor can be effectively distinguished, the diagnosis accuracy rate reaches 92%, the
false alarm rate is lower than 0.5%, and the three-dimensional target
detection performance is improved.