Method and device for detecting barrier based on hybrid binocular vision

A technology of obstacle detection and binocular vision, applied in measuring devices, optical devices, radio wave measurement systems, etc., can solve problems such as insufficient geographic information, insufficient scene information, bad weather, etc., achieve high detection efficiency and reduce calculation Effects of complexity, precise localization, and navigation

Active Publication Date: 2012-05-02
TSINGHUA UNIV +1
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Problems solved by technology

However, the safety of aircraft with complex ground-air conditions has brought a series of problems. In remote areas, GPS position signals may be lost; in unfamiliar environments, geographic information is insufficient; in extreme severe weather, scene information is insufficient

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  • Method and device for detecting barrier based on hybrid binocular vision
  • Method and device for detecting barrier based on hybrid binocular vision
  • Method and device for detecting barrier based on hybrid binocular vision

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Embodiment Construction

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0021] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element refe...

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Abstract

The invention provides a method and a device for detecting a barrier based on hybrid binocular vision. The method comprises the following steps of: acquiring a left view and a right view of a scene, wherein the left view is a visible light image; and the right view is a near-infrared image; acquiring visible light obviousness images and near-infrared obviousness images of the left view and the right view; comparing an obviousness mean value of the visible light obviousness images and an obviousness mean value of the near-infrared obviousness images respectively to determine the barrier areas in the left view and the right view respectively; matching the barrier area in the left view and the barrier area in the right view so as to determine the final barrier area; and analyzing the final barrier area to obtain a distance and a shape of the barrier. According the embodiment of the invention, the distance and the shape of the barrier can be accurately detected; and only a small part of areas in the left view and the right view are matched and analyzed, so calculation complexity is effectively reduced, and the method is high in detection efficiency.

Description

technical field [0001] The invention relates to the technical field of computer vision processing, in particular to an obstacle detection method and device based on hybrid binocular vision. Background technique [0002] Today, when natural disasters occur frequently, aviation emergency rescue has become an important part of emergency rescue in countries all over the world due to its rapid and effective advantages. However, the safety of aircraft with complex ground and air conditions has brought a series of problems. In remote areas, GPS position signals may be lost; in unfamiliar environments, geographic information is insufficient; in extreme severe weather, scene information is insufficient. Therefore, the visual perception of the surrounding environment has become the research topic of low-altitude aircraft and aerial robots. [0003] In the 1870s, Marr of the Massachusetts Institute of Technology applied vision theory to binocular matching, using two plane images with ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/36G01B11/24G06T7/00
Inventor 戴琼海罗晓燕
Owner TSINGHUA UNIV
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