Three-dimensional target detection method and terminal based on roadside laser radar

The invention discloses a three-dimensional target detection method based on a roadside laser radar and a terminal. The method comprises the following steps: acquiring real-time point cloud data acquired by the roadside laser radar through roadside communication equipment; the collected real-time point cloud data are preprocessed; extracting three-dimensional voxel features from the processed point cloud data by adopting a three-dimensional sparse convolution algorithm, projecting a three-dimensional voxel feature body to obtain a two-dimensional feature map, and detecting by adopting an anchor-frame-free target detection head to obtain a three-dimensional detection frame in an initial stage; extracting features of each key point cloud from the key point clouds, and performing fusion optimization; fusing the obtained key point clouds in sequence to obtain multi-dimensional key point cloud features; and performing pooling operation on the three-dimensional detection frame in the initial stage by using the key