Monocular three-dimensional object detection method and device, equipment and product

The invention provides a monocular three-dimensional object detection method and device, equipment and product, and relates to the technical field of computer vision, and the method comprises the following steps: obtaining a to-be-detected image; inputting the to-be-detected image into a monocular three-dimensional object detection model to obtain a two-dimensional detection result, an object depth, an observation angle and a size of the to-be-detected object output by the monocular three-dimensional object detection model; generating a three-dimensional center point of the to-be-detected object in the three-dimensional space according to the two-dimensional center point and the depth of the object; generating an orientation angle of the to-be-detected object according to the three-dimensional center point and the observation angle; according to the three-dimensional center point, the orientation angle and the size, generating a three-dimensional detection result. The prediction performance of the truncated o