Target detection method and device, equipment and storage medium

Abstract

Embodiments of the invention provide a target detection method and device, equipment and a storage medium. The method comprises the following steps: subjecting point cloud data to mapping to a two-dimensional space to obtain a first mapped image, carrying out fusion on the first mapped image and a scene image, carrying out target detection in the obtained fused image, and subjecting the obtained detection result to inverse mapping to a three-dimensional space so as to obtain a target detection result. The fused image is two-dimensional data, and target detection is carried out in the two-dimensional data, so a calculation amount is reduced; the fused image comprises data of two aspects, namely the point cloud data and the scene image, and target detection is carried out based on the data of the two aspects, so the accuracy of the detection result is improved; the detection result in the fused image is inversely mapped to the three-dimensional space to obtain the detection result in thethree-dimensional space; and therefore, with the above scheme, under the condition that the accuracy of the detection result is not reduced, the calculation amount is reduced, and the detection result in the three-dimensional space is obtained.

Description

technical field [0001] The present invention relates to the technical field of image recognition, in particular to an object detection method, device, equipment and storage medium. Background technique [0002] In some scenarios, it is necessary to detect objects in images, such as human bodies, vehicles, etc., to track or locate the objects. For example, in shopping places such as unmanned supermarkets and unmanned shopping malls, monitoring equipment is usually set up, and target detection is performed in images collected by the monitoring equipment to track customers or determine the location of customers in the place. [0003] In some related solutions, the point cloud data of the scene is collected, and target detection is performed based on the point cloud data. Point cloud data is three-dimensional data, and target detection in three-dimensional data requires a large amount of calculation. Contents of the invention [0004] The purpose of the embodiments of the pr...

AI Technical Summary

Problems solved by technology

The point cloud data is three-dimensional data, and the target detection in the three-dimensional data requires a large amount of calculation

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