Target detection method and target detection device

The invention relates to the technical field of detection, and provides a target detection method and a target detection device, and the method comprises the steps: uniformly segmenting a panoramic image into a preset number of grid cells, and marking the grid cells with black regions as target grid cells; acquiring point cloud data of a field of view, controlling the laser radar to scan the target grid unit twice when the axis of the laser radar is aligned with the target grid unit, and fusing the point cloud data scanned twice by the laser radar; performing smearing fusion on the point cloud data after point sampling processing by adopting a semantic segmentation result of the image; and inputting the smeared and fused point cloud data into a target detection network based on the point cloud. According to the method, the area where the black object is located in the point cloud data detected by the laser radar is optimized, so that the laser radar can detect the black object more accurately, more complete a