Target detection method, system and device and storage medium

• Main Authors: GONG JICHENG, SUN ZHEN, ZHANG RONG
• Format: Patent
• Language: Chinese; English
• Published: 18.05.2021
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; HANDLING RECORD CARRIERS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS

The invention provides a target detection method, system and device and a storage medium, and the method comprises the steps of obtaining point cloud detection data, and determining a two-dimensional point cloud image in an x-y plane; dividing the two-dimensional point cloud image into a plurality of grids; obtaining a tensor of a non-empty grid in the plurality of grids, wherein the tensor of the non-empty grid comprises position information and reflectivity of each point in the grid and the number of point clouds in the grid; determining the tensor of the two-dimensional point cloud image based on the tensor of the non-empty grid; inputting the tensor of the two-dimensional point cloud image into a feature extraction network to obtain a feature map output by the feature extraction network; and inputting the feature map into a target detection network to obtain a target category and a detection frame position output by the target detection network. The tensor is extracted based on the three-dimensional point