Abstract: A vehicle detection method includes acquiring a three-dimensional (3D) image with a plurality of point clouds; mapping the 3D image onto a two-dimensional (2D) image; interpolating the 2D image according to a distance between a camera and a first point cloud of the plurality of point clouds; transforming the 3D image into a plurality of voxels, and extracting a plurality of 3D deep features and a plurality of 2D deep features according to the plurality of voxels; and determining a detection result according to a classification of the plurality of 3D deep features and the plurality of 2D deep features.