The application discloses a
monocular 3D target detection method based on deep dynamic center difference
convolution, and belongs to the technical field of automatic driving. The application comprises the following steps: acquiring an image, determining an anchor frame pre-design, inputting the preprocessed image into a main
feature extraction network, extracting
semantic information, performing classification
branch and regression
branch on the output feature map, performing post-
processing operation on the category information and regression information, and obtaining the category and 3D bounding box of the target in the
RGB image. In the depth
estimation of
monocular 3D target detection, the deep dynamic center difference
convolution is used to replace the traditional
convolution, the deep dynamic operation makes the network consider the depth information, the local size information and the geometric information of each sample at the same time, the center difference further improves the refinement degree of the network at each pixel, and only simple calculation is used without occupying too much memory. The accuracy of depth
estimation is improved, and the precision of
monocular 3D target detection is finally improved.