CN114424240A - A target detection method and device, device, and storage medium - Google Patents

Abstract

An exemplary embodiment of the present application discloses a target detection method, which is applied to a device, and includes: acquiring point cloud data of an object to be detected; generating a plurality of candidate planes based on the coordinate values of the point cloud data; determining a target plane satisfying a preset condition from the plurality of candidate planes; and detecting the object to be detected according to the point cloud data covered by the target plane. An exemplary embodiment of the present application also provides an apparatus and a computer storage medium.

Description

Translated fromChinese

PCT国内申请，说明书已公开。PCT domestic application, the description has been published.

Claims (12)

1. An object detection method applied to an apparatus having a photographing function, the method comprising:

   acquiring point cloud data of an object to be detected;

   generating a plurality of candidate planes based on the coordinate values of the point cloud data;

   determining a target plane satisfying a preset condition from the plurality of candidate planes;

   and detecting the object to be detected according to the point cloud data covered by the target plane.
2. The method of claim 1, wherein generating a plurality of candidate planes based on coordinate values of the point cloud data comprises:

   carrying out noise reduction processing on the point cloud data to obtain noise reduction data;

   sampling the noise reduction data according to a preset sampling condition to obtain sample data;

   and generating the candidate planes according to the coordinate values of the sample data.
3. The method according to claim 2, wherein the sampling the noise reduction data according to a preset sampling condition to obtain sample data comprises:

   dividing the noise reduction data into a plurality of groups of sample data; and the data quantity in each group of sample data is more than or equal to a preset quantity.
4. The method according to claim 2 or 3, wherein the generating the plurality of candidate planes according to the coordinate values of the sample data comprises:

   and generating corresponding candidate planes according to the coordinate values of each group of sample data in the multiple groups of sample data to obtain the multiple candidate planes.
5. The method according to claim 2 or 3, wherein the generating the plurality of candidate planes according to the coordinate values of the sample data comprises:

   and generating a candidate plane meeting a quantity threshold according to the coordinate value of each group of sample data in the multiple groups of sample data.
6. The method according to claim 4, wherein the generating corresponding candidate planes according to the coordinate values of each group of sample data in the plurality of groups of sample data to obtain the plurality of candidate planes comprises:

   generating a corresponding sample plane according to the coordinate value of the ith group of sample data; wherein i is an integer greater than or equal to 1;

   determining a first coordinate value of an intersection between an optical axis of the acquisition device and the sample plane;

   and if the first coordinate value meets a preset feasible region condition, determining the sample plane as a candidate plane.
7. The method according to claim 4, wherein the generating corresponding candidate planes according to the coordinate values of each group of sample data in the plurality of groups of sample data to obtain the plurality of candidate planes comprises:

   enclosing the point cloud data covered by the sample planes to obtain a plurality of enclosing boxes meeting a specific shape;

   determining a second coordinate value of an intersection point of the optical axis of the acquisition equipment and the central axis of each bounding box to obtain a second coordinate value set;

   selecting a candidate bounding box corresponding to a second coordinate value meeting the preset feasible region condition from the second coordinate value set;

   and if the attribute information of the candidate bounding box meets the corresponding preset condition, determining the sample plane corresponding to the candidate bounding box as a candidate plane.
8. The method according to claim 7, wherein the determining that the sample plane corresponding to the candidate bounding box is a candidate plane if the attribute information of the candidate bounding box satisfies the corresponding preset condition comprises:

   and if the size of the candidate bounding box meets the size threshold, and/or the coordinate of the center point of the candidate bounding box is within a preset measurement range, and/or the second coordinate value is within the preset measurement range, determining the sample plane corresponding to the candidate bounding box as a candidate plane.
9. The method according to claim 1, wherein the determining, from the plurality of candidate planes, a target plane satisfying a preset condition comprises:

   determining the number of points contained in the preset range of each candidate plane to obtain a plurality of point values;

   and determining the candidate plane corresponding to the maximum point number value as a target plane.
10. An object detection apparatus, characterized in that the apparatus comprises: the device comprises a first acquisition module, a first generation module, a first determination module and a first detection module, wherein:

    the first acquisition module is used for acquiring point cloud data of an object to be detected;

    the first generation module is used for generating a plurality of candidate planes based on the coordinate values of the point cloud data;

    the first determining module is used for determining a target plane meeting a preset condition from the plurality of candidate planes;

    the first detection module is used for detecting the object to be detected according to the point cloud data covered by the target plane.
11. An object detection apparatus comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor implements the steps of the object detection method of any one of claims 1 to 9 when executing the program.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 9.

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