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Target detection method and device for automatic driving, and equipment

A target detection and target technology, applied in the field of navigation, can solve problems such as the decline in the accuracy of the depth value z prediction, poor model generalization, affecting the reliability of the final detection result, etc., to achieve the effect of improving generalization and reliability.

Active Publication Date: 2021-10-22
ZHIDAO NETWORK TECH (BEIJING) CO LTD
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Problems solved by technology

[0004] However, the current monocular 3D object detection model, for the prediction of the depth value z, uses the mean and variance statistically obtained from the label information of the training set
The above mean and variance can be understood as the weight parameters in the monocular 3D target detection model applicable to the corresponding monocular camera, when the corresponding monocular camera is replaced, or the image of the input model is collected by other different monocular cameras , will affect the predicted depth value z output by the model, resulting in a decline in the correctness of the prediction of the depth value z
In other words, the current monocular 3D target detection model has poor model generalization, which in turn affects the reliability of the final detection results.

Method used

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  • Target detection method and device for automatic driving, and equipment
  • Target detection method and device for automatic driving, and equipment

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Embodiment Construction

[0040] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0041] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible ...

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Abstract

The invention relates to a target detection method and device for automatic driving, and equipment. The method comprises the following steps: acquiring an image acquired by monocular shooting equipment; inputting the image into a preset monocular 3D target detection model to obtain a predicted height of a target object in the image; calculating a depth priori value of the central point of the target object according to the predicted height, the position of the central point of the target object in the image, the installation height of the monocular shooting equipment in world coordinates and the internal reference of the monocular shooting equipment; and obtaining the depth value of the central point of the target object according to the depth priori value. According to the scheme provided by the invention, the coupling between the model and the monocular camera can be removed in the process of predicting the depth value z, so that the generalization of the model is improved, and the reliability of a target detection result is improved.

Description

technical field [0001] The present application relates to the technical field of navigation, and in particular to an object detection method, device and equipment for automatic driving. Background technique [0002] Target detection is a traditional task in the field of computer vision. Different from image recognition, target detection not only needs to identify the objects existing on the image, give the corresponding category, but also needs to pass the position of the object through the minimum bounding box (Bounding box) way give. According to the different output results required for target detection, the method of using RGB images for target detection, outputting object categories and the smallest bounding box on the image is called 2D target detection, and RGB images, RGB-D depth images and lasers will be used Point cloud, the detection of the output object category and the length, width, height, rotation angle and other information in three-dimensional space is cal...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/50G06T7/62G06T7/66G06T7/70
CPCG06T7/62G06T7/70G06T7/50G06T7/66
Inventor 罗壮张雪张海强李成军
Owner ZHIDAO NETWORK TECH (BEIJING) CO LTD
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