Method and apparatus for detecting barrier based on monocular vision

An obstacle detection, monocular vision technology, applied in the field of obstacle recognition, can solve the problem of incomplete obstacles and so on
CN101408978AActive Publication Date: 2009-04-15东软睿驰汽车技术(武汉)有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
东软睿驰汽车技术(武汉)有限公司
Publication Date
2009-04-15

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Abstract

The invention discloses a barrier detection method and a device thereof based on monocular vision. The method comprises the following steps: an image at the present moment is cut for obtaining a plurality of regions which are cut; self-vehicle motion parameters are obtained, and imaginary images at the present moment are generated by using all the pixels on the image t moment before the present moment after carrying out movement according to the self-vehicle motion parameters; the similarity level of the image and the imaginary image at the present moment is calculated, so as to determine candidate barrier area of the image at the present moment; whether each candidate barrier area has intersection with each cut area in the image at the present moment is calculated, if yes, the barrier judging percentage formed by the pixel area of intersection areas and the corresponding pixel area of the cutting areas is calculated, and barriers are determined according to the barrier judging percentage and preset barrier threshold. The method has the advantages of low faulty detecting ratio and complete barrier detection.
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Description

technical field

[0001] The present invention relates to the technical field of obstacle recognition, in particular to an obstacle detection method and device based on monocular vision. Background technique

[0002] In this field, an obstacle usually refers to a three-dimensional object higher than the ground.

[0003] At present, the method based on motion compensation is one of the commonly used methods for obstacle detection based on monocular vision. Its principle is that under the premise that the road is flat and the lighting conditions remain unchanged in a short period of time, the pixel value of the corresponding image point formed by any point on the road plane in the image frame at adjacent moments remains unchanged. If it is assumed that all the points in the image at the previous moment are the corresponding imaging points of the points on the road surface, based on the camera motion parameters and the imaging principle, it can be calculated The difference betw...

Claims

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