Method for automatically detecting obstacles based on binocular vision

Abstract

The invention discloses a method for automatically detecting obstacles based on binocular vision. The method comprises the following steps: receiving image information from two paths of binocular vision cameras, the image information including a V-disparity map and a U-disparity map; calculating a conversion formula between image coordinates of the image information and coordinate systems according to the coordinate systems of the two paths of cameras; comparing image information that identical time codes of the received image information correspond to, and obtaining a disparity map; and obtaining related lines of the disparity map according to the disparity map, and obtaining the position information of obstacles according to the conversion formula and the related lines of the disparity map. The method provided by the invention can utilize binocular vision to simulate eyes of humans and the process of stereoscopic perception of humans, and automatically detect obstacles for road driving, and the method has strong adaptability, good real-time performance, and good concealing performance.

Description

technical field [0001] The invention relates to a method for automatically detecting obstacles, in particular to a method for automatically detecting obstacles based on binocular vision. [0002] Background technique [0003] In recent years, with the acceleration of the construction of road transport infrastructure and the development of social economy in my country, especially the increase in the number of cars, the capacity of the road network cannot meet the needs of the increase in traffic volume, especially the serious urban traffic congestion and congestion, resulting in road traffic Accidents continued to rise. On the one hand, it is necessary to continue to strengthen the development of road network infrastructure. On the other hand, the rapid development of information technology provides more reliable and economical solutions to road traffic problems. Europe, the United States and other developed countries have started research and design since the 1980s Road fun...

AI Technical Summary

Problems solved by technology

In many traffic accidents, more are caused by perceived factors, such as the driver's illegal driving, long-distance driving fatigue, and the limitation of the human body's response ability, which cannot be overcome more limitedly only by regulating the driver's behavior. The fundamental way to solve these problems