In order to solve the problem that the prior information of direction angle is not fully utilized in the method of 3D object detection based on 2. 5D information

start with the depth information acquired by RGB-D camera

propose a novel 3D object detection method that estimates the prior direction angle based on 2D image.Firstly

a 2D segmentation instance is got through color information and depth information

and the key points are extracted from segmentation instance. Then the uncertain points are excluded and the false points are corrected according to the optimization process of the key points. Finally

the 3D coordinate of the key points are obtained through point cloud reconstruction

and the direction angle of the target is estimated according to the coordinate of the key points

which is used as the direction angle of initial 3D frame. The experimental results show that the proposed method improves the average detection precision of 1. 3 % on the basis of the Amodal3Det method.