The invention relates to a 3D vehicle detection method and a 3D vehicle detection device based on a laser radar, and a storage medium. The 3D vehicle detection method comprises the steps of: acquiring3D data of a surrounding environment of an automatic driving vehicle based on the laser radar; for the 3D data, manually labeling a target vehicle in each frame of 3D data; for the 3D data after manual labeling, encoding Z-axis data of the 3D data by using convolution and pooling operation, and compressing the 3D data after manual labeling into a 2D top view; and training the compressed 2D top view by using an image detection network to obtain a 3D vehicle detection model based on the laser radar. According to the 3D vehicle detection method, 3D data is directly acquired by means of the 3D laser radar for detection, the 2D image calibration and projection steps of an existing detection method are omitted, the detection steps are effectively reduced, and the detection efficiency is furtherimproved.
本发明涉及一种基于激光雷达的3D车辆检测方法、装置及存储介质,基于激光雷达,采集自动驾驶车辆周围环境的3D数据;针对所述3D数据,对每帧3D数据中的目标车辆进行人工标注;针对人工标注后的3D数据,利用卷积和池化操作对3D数据的Z轴数据进行编码,将所述人工标注后的3D数据压缩成2D俯视图;针对所述压缩后的2D俯视图,利用图像检测网络进行训练,获得基于激光雷达的3D车辆检测模型。本发明直接通过3D激光雷达获取3D数据进行检测,省去现有检测方法的2D图像标定、投影步骤,有效减少检测步骤,进而提高检测效率。
3D vehicle detection method and device based on laser radar, and storage medium
基于激光雷达的3D车辆检测方法、装置及存储介质
2020-04-10
Patent
Elektronische Ressource
Chinesisch
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