Obstacle avoidance method and device based on target detection

The invention mainly relates to the technical field of target detection, and mainly relates to an obstacle avoidance method and device based on target detection, and the method comprises the steps: obtaining a color image and a depth image of a preset region; object recognition is carried out through a preset recognition model based on the color image, category information is obtained, and the preset recognition model is a YOLO model after data enhancement training; preprocessing the depth image to obtain point cloud information of a target frame; fusing the category information with the point cloud information of the target frame to obtain vehicle body position information of the target frame; obstacle detection is carried out based on the vehicle body position information of the target frame, and obstacle information is obtained; and performing corresponding obstacle avoidance processing according to the obstacle information. According to the invention, the color image and the depth image of the preset area