Target detection method and device

The invention discloses a target detection method and device. The method comprises steps of inputting the obtained point cloud into a pre-trained detection model, obtaining a to-be-optimized target detection result of the point cloud output by the detection model, wherein the to-be-optimized target detection result comprises a plurality of targets, information of prediction centroids of the plurality of targets, and information of prediction annotation boxes, since the detection model cannot completely and accurately predict the annotation box information of the target, for each target, the specification can determine the centroid distance of the target according to the predicted centroid information and the predicted annotation box information of the target. According to the centroid distance of each target, a prediction annotation box meeting a specified condition is selected in a to-be-optimized target detection result, namely, on the basis of the to-be-optimized target detection result, the prediction ann