The application provides an unsupervised
monocular three-dimensional target detection method based on a
video sequence and a pre-trained instance segmentation. The main steps are as follows: a camera with a known internal parameter is used to
shoot a
video sequence frame of a certain length in a certain scene, a
monocular depth network is self-supervisedly trained by using the projection relationship between the sequence images, and the
monocular depth
estimation value of the sequence images is learned; then, an instance segmentation result of the image is directly predicted by using a pre-trained instance segmentation network, the instance segmentation result is combined with the camera internal parameter and the learned monocular depth
estimation value, and is back-projected into a three-dimensional space to obtain pseudo-
radar data of each instance; finally, an
unsupervised clustering method is used to filter out outliers, a minimum circumscribed rectangle of the
point set is solved in a bird's eye view (x-z plane), a maximum-minimum
height difference of the
point set is solved in a y-axis direction, and finally a three-dimensional target detection bounding box of the object is obtained. The application can complete three-dimensional target detection of any new scene without
manual annotation by using the sequence information of the front and rear frames of the video and the pre-trained instance segmentation network, and can significantly reduce the
manual annotation cost required for learning three-dimensional target detection of a new scene.