The embodiment of the invention provides an obstacle detection processing method, device and equipment and a storage medium. The method comprises the steps: acquiring original image data of a road surface; preprocessing the original image data to obtain first image data; performing detection processing on the first image data based on an obstacle detection model obtained by pre-training to obtaina detection result; if it is detected that an obstacle exists according to the detection result, carrying out alarm processing, wherein the network architecture of the obstacle detection model at least comprises an improved bidirectional feature pyramid module based on a feature pyramid network, deep information and shallow information can be effectively fused, the small target detection effect can be better improved, the small target detection effect is not easily influenced by illumination, and thus the accuracy of obstacle detection is improved.
本发明实施例提供一种障碍物检测的处理方法、装置、设备及存储介质,该方法包括:获取路面的原图像数据;对所述原图像数据进行预处理,获得第一图像数据;基于预先训练获得的障碍物检测模型对所述第一图像数据进行检测处理,获得检测结果;若根据所述检测结果确定有障碍物,则进行报警处理,其中,障碍物检测模型的网络架构至少包括基于特征金字塔网络改进的双向特征金字塔模块,可以有效融合深层信息和浅层信息,更好提升小目标检测效果,不易受光照影响,从而提高障碍物检测的准确性。
Obstacle detection processing method, device and equipment and storage medium
障碍物检测的处理方法、装置、设备及存储介质
2020-11-20
Patent
Electronic Resource
Chinese
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