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Self-adapting slope detection method and device

A detection method and technology for slopes, applied in character and pattern recognition, instruments, computer parts, etc., can solve the problems of wrong marking of slope areas and inability to locate the precise position of slope areas, etc.

Active Publication Date: 2014-03-26
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method uses k straight lines to fit the shape of the road surface, but cannot locate the precise location of the slope area
Because the voting method is used to pick lines, sloped areas may be incorrectly labeled

Method used

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  • Self-adapting slope detection method and device
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  • Self-adapting slope detection method and device

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Embodiment Construction

[0032] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] It will be described in the following order:

[0034] 1. Overview of invention ideas and introduction of basic concepts

[0035] 2. Slope detection method

[0036] 2.1. The overall process of slope detection

[0037] 2.2. Acquisition of disparity map and V-disparity map

[0038] 2.3. Fitting road reference line

[0039] 2.4. Calculate the difference curve

[0040] 2.5. Detection of inflection point

[0041] 3. Slope detection device

[0042] 4. Summary

[0043]

[0044] Before the specific description, the idea of ​​the present invention is generally introduced first, so that those skilled in the art can better understand the present invention: in order to detect slopes, the road area should be determined first. The V-disparity map...

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Abstract

The invention provides a self-adapting slope detection method and device. The method comprises the following steps: a parallactic side view comprising a road region is acquired, pixel dots in the road region in the v parallactic side view are fitted to obtain a baseline, a differential curve of the pixel dots in the road region and the baseline is calculated, and whether a turning point exists in the differential curve is detected.

Description

technical field [0001] The present invention relates to a slope detection method and device, in particular to a slope detection method and device based on a disparity map. Background technique [0002] The application of driver assistance systems is becoming more and more popular. The road or lane detection warning system (Lane / Road detection warning, LDW / RDW) is a subsystem of the driving assistance system, which can avoid collisions and determine the driving direction more accurately. Road detection is very critical to the LDW / RDW system, and further processing, such as warning, is possible only on the basis of knowing the road information. [0003] Because of the environment and topography, many road surfaces are not a plane, but slope road surfaces that often appear uphill or downhill, and there are also many slope roads in many urban roads and expressways. Therefore, accurate road surface detection to accurately detect road conditions and identify whether there is a s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
Inventor 师忠超游赣梅鲁耀杰王刚刘殿超
Owner RICOH KK