Object detection method and apparatus, and computer-readable storage medium and unmanned vehicle

An object detection apparatus, comprising:

• a memory;
• and
• a processor coupled to the memory, the processor being configured to implement an object detection method comprising:
• obtaining an original point cloud of an object to be detected, an image of the object to be detected, and semantic labels of pixels in the image;
• generating a candidate detection box for the object to be detected according to the original point cloud;
• generating a virtual point cloud according to the candidate detection box;
• fusing the original point cloud and the virtual point cloud to obtain a fused point cloud;
• determining a semantic label corresponding to each point in the fused point cloud by projecting the fused point cloud onto an image coordinate system;
• and
• generating a 3D detection box for the object to be detected by using a 3D detection model according to the fused point cloud and the semantic label corresponding to each point in the fused point cloud.

A non-transitory computer-readable storage medium, on which a computer program instruction is stored, and the computer program instruction, when executed by a processor, implements an object detection method comprising:

• obtaining an original point cloud of an object to be detected, an image of the object to be detected, and semantic labels of pixels in the image;
• generating a candidate detection box for the object to be detected according to the original point cloud;
• generating a virtual point cloud according to the candidate detection box;
• fusing the original point cloud and the virtual point cloud to obtain a fused point cloud;
• determining a semantic label corresponding to each point in the fused point cloud by projecting the fused point cloud onto an image coordinate system;
• and
• generating a 3D detection box for the object to be detected by using a 3D detection model according to the fused point cloud and the semantic label corresponding to each point in the fused point cloud.