Target vehicle position and orientation detection method and system and storage medium

The invention provides a target vehicle position and orientation detection method. The method comprises the steps: step S10, collecting a front view image of the vehicle through a vehicle-mounted camera; step S11, preprocessing the front view image collected by the vehicle-mounted camera; step S12, performing image motion compensation on the front view image according to vehicle-mounted inertial measurement equipment; step S13, according to an inverse perspective transformation rule, converting the position of each target vehicle in the front view after image motion compensation into a top view; and step S14, inputting the top view into a pre-trained convolutional neural network to obtain position and orientation information of each target vehicle. The invention further provides a corresponding system and a storage medium. According to the invention, the distance and orientation detection precision of the target vehicle based on vision can be greatly improved. 本发明提供一种目标车辆位置和朝向的检测方法，包括步骤：步骤S10，通过车载摄像头采集本车的前视图像