Tractor detection method, equipment, system, device, medium and program product

The invention provides a tractor detection method, equipment, system and device, a medium and a program product. The method comprises the following steps: acquiring point cloud data of a tractor in an agricultural scene; obtaining a tractor detection result: inputting the point cloud data into a target tractor detection model to obtain the tractor detection result; wherein the target tractor detection model is obtained through the following steps: obtaining point cloud training data, image training data and vehicle pose data of various tractors in an agricultural scene; performing time synchronization and space synchronization on the point cloud training data, the image training data and the vehicle pose data; based on the point cloud training data and the image training data after the time synchronization and the space synchronization, constructing a target point cloud data set with a label; and inputting the target point cloud data set into a preset three-dimensional target detection model for training to o