Obstacle detection method and device, apparatus, and storage medium

An obstacle detection device, comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor, wherein
• the memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor to enable the at least one processor to:
• acquire position information of a two-dimensional detection frame and position information of a three-dimensional detection frame of an obstacle in an image;
• convert the position information of the three-dimensional detection frame of the obstacle into position information of a two-dimensional projection frame of the obstacle;
• and
• optimize the position information of the three-dimensional detection frame of the obstacle by using the position information of the two-dimensional detection frame, the position information of the three-dimensional detection frame and the position information of the two-dimensional projection frame of the obstacle in the image,
• wherein the instructions are executed by the at least one processor to further enable the at least one processor to:
• set at least one constraint item for the position information of the three-dimensional detection frame of the obstacle by using the position information of the two-dimensional detection frame, the position information of the three-dimensional detection frame and the position information of the two-dimensional projection frame of the obstacle in the image;
• construct a loss function by using the constraint item;
• and
• optimize the position information of the three-dimensional detection frame of the obstacle by using the loss function,
• wherein the constraint item comprises a first constraint item, which is set according to coordinates of a central point of the two-dimensional detection frame and coordinates of a central point of the two-dimensional projection frame of the obstacle.

A non-transitory computer readable storage medium for storing computer instructions, wherein the computer instructions, when executed by a computer, cause the computer to

• acquire position information of a two-dimensional detection frame and position information of a three-dimensional detection frame of an obstacle in an image;
• convert the position information of the three-dimensional detection frame of the obstacle into position information of a two-dimensional projection frame of the obstacle;
• and
• optimize the position information of the three-dimensional detection frame of the obstacle by using the position information of the two-dimensional detection frame, the position information of the three-dimensional detection frame and the position information of the two-dimensional projection frame of the obstacle in the image,
• wherein the computer instructions, when executed by a computer, further cause the computer to:
• set at least one constraint item for the position information of the three-dimensional detection frame of the obstacle by using the position information of the two-dimensional detection frame, the position information of the three-dimensional detection frame and the position information of the two-dimensional projection frame of the obstacle in the image;
• construct a loss function by using the constraint item;
• and
• optimize the position information of the three-dimensional detection frame of the obstacle by using the loss function,
• wherein the constraint item comprises a first constraint item, which is set according to coordinates of a central point of the two-dimensional detection frame and coordinates of a central point of the two-dimensional projection frame of the obstacle.