Target detection method and device, terminal equipment and computer readable storage medium

The invention is suitable for the technical field of computer vision, and provides a target detection method and device, terminal equipment and a computer readable storage medium, and the method comprises the steps: obtaining a to-be-detected point cloud, and carrying out the feature extraction of the to-be-detected point cloud, so as to generate a three-dimensional feature and a two-dimensional feature corresponding to the to-be-detected point cloud, the method comprises the following steps: acquiring three-dimensional features and two-dimensional features of a to-be-detected point cloud, performing feature fusion on the three-dimensional features and the two-dimensional features to generate a bird's-eye view corresponding to the to-be-detected point cloud, performing prior frame prediction on the bird's-eye view to generate prior frame features corresponding to the to-be-detected point cloud, and performing target detection according to the prior frame features. And generating a target detection result corr