Abstract: A 3D target detection method based on multimodal fusion and a depth attention mechanism includes the following steps: obtaining and preprocessing original point cloud data and original image data; inputting the preprocessed point cloud data and image data into a 3D target detection network based on multimodal fusion and the depth attention mechanism, where the 3D target detection network based on multimodal fusion and the depth attention mechanism includes a generation phase for 3D bounding box proposals and a refinement phase for 3D bounding boxes, and the network outputs parameters and classification confidence of a target bounding box; training the 3D target detection network based on multimodal fusion and the depth attention mechanism; and processing the collected lidar point cloud data and image data by using the trained detection network, and outputting 3D target information, to realize 3D target detection.