Target detection method, computer device, computer-readable storage medium, and vehicle

Abstract

The disclosure relates to the technical field of autonomous driving, and specifically provides a target detection method, a computer device, a computer-readable storage medium, and a vehicle, to solve the problem of detecting a target in a timely and accurate manner. For this purpose, the method of the disclosure includes: rasterizing point cloud space of three-dimensional point clouds in a vehicle driving environment to form a plurality of three-dimensional point cloud grids, and using point cloud grids including three-dimensional point clouds as target point cloud grids; determining a convolution dilation rate based on sparsity of the target point cloud grid; dilating a sparse convolution based on the convolution dilation rate; extracting a point cloud grid feature of the target point cloud grid by using a dilated sparse convolution; weighting the point cloud grid feature by using an attention mechanism to obtain a global point cloud feature; and performing target detection based on the global point cloud feature. In this way, both a remote target and a close target can be accurately detected. In addition, using the sparse convolution for detection can reduce the calculation amount and improve the detection efficiency.