Flying car take-off and landing method and device based on grid occupation sensing mode

The invention discloses a hovercar take-off and landing method and device based on an occupied grid sensing mode, and belongs to the technical field of hovercar sensing. The method comprises the following steps: performing multi-scale feature extraction on an acquired multi-view image; determining a voxel query space of the corresponding scale for each scale, projecting a reference point in the voxel query space to an image space, and performing image feature sampling on the periphery of the projection point in the image space according to the look-around image features of the plurality of scales to obtain voxel features of the plurality of scales; predicting an occupation semantic category of each grid in the voxel query space according to the voxel features of multiple scales; acquiring global aerial view features according to the voxel features of the plurality of scales, and performing three-dimensional target detection on the global aerial view features by using a target detection head; and according to