Extreme weather target detection method based on millimeter wave radar assistance

The invention provides a millimeter-wave radar-assisted extreme weather target detection method, and the method comprises the steps: reading visual sensing data and millimeter-wave radar data, carrying out the feature extraction of the visual sensing data and the millimeter-wave radar data, and generating a feature map corresponding to the data; generating a proposal of corresponding data according to the feature map; creating regional features according to the proposal and obtaining a feature tensor; according to the contribution values of the visual sensor and the millimeter wave radar data, the feature tensor is correspondingly weighted and then feature fusion is carried out; and obtaining position information of the detection frame containing the target detection object according to the fused features. The millimeter-wave radar is used for assisting other optical sensors in detection, and detection feature maps of the millimeter-wave radar and the other optical sensors are fused, so that the detection acc