Target object recognition method and device applied to unmanned vehicle

The invention discloses a target object recognition method and device applied to an unmanned vehicle. The unmanned vehicle is provided with laser radar sensors and camera sensors. A specific implementation way of the method comprises the steps of acquiring point cloud data acquired by the laser radar sensors and image data acquired by the camera sensors; detecting a target object in the image data, and generating a rectangular frame used for indicating the target object; removing ground points used for indicating the ground and points located beyond a viewing angle range of the camera sensors from the point cloud data to acquire first point cloud data; detecting second point cloud data corresponding to the target object in the first point cloud data according to the rectangular frame; and determining a minimum outer bounding box corresponding to the target object in the second point cloud data. The implementation way disclosed by the invention improves the accuracy of target object recognition applied to the unmanned vehicle.