Neural network training method and device, vehicle detection estimation method and device and storage medium

The invention discloses a neural network training method and device, a vehicle detection estimation method and device and a storage medium used for vehicle position detection and attitude estimation.The neural network training method comprises the steps that training data is acquired, wherein the training data comprises a picture annotated with vehicle position coordinates and vehicle three-dimensional bounding box vertex projection coordinates; and the following steps are executed repeatedly till set conditions are met, wherein the training data is utilized to train a vehicle position detection branch network, and the training data and a vehicle detection box output by the vehicle position detection branch network for training are utilized to train a vehicle attitude estimation branch network. Through the neural network training method, end-to-end training can be realized, high data annotation precision is not needed, and network accuracy can be improved. The neural network trainingdevice, the vehicle detect