Target detection method based on binocular camera and laser radar fusion

The invention discloses a target detection method based on binocular camera and laser radar fusion, and belongs to the technical field of sensing of overwater naval vessels and overwater large ships. Comprising the following steps: constructing a binocular camera and laser radar sensor fused space model, and collecting binocular images and point clouds; carrying out adaptive local histogram equalization, marginalization and graying preprocessing on the binocular image; establishing an adaptive filtering rule for the point cloud to carry out point cloud preprocessing, and carrying out point cloud clustering; constructing an improved YOLOv5 network model to detect the preprocessed binocular image, and calculating depth information and parallax information; and performing secondary mapping matching and detection on the depth information and the point clouds of the different point cloud clusters to obtain a target detection result. According to the method, the problem of low detection precision caused by dependen