Obstacle prewarning method and obstacle prewarning device

An obstacle and motion device technology, which is applied in the use of devices that measure the time required to move a certain distance, character and pattern recognition, image data processing, etc., can solve problems such as low accuracy, slow calculation speed, and inability to predict obstacles.

Active Publication Date: 2016-06-29
BEIJING SMARTER EYE TECH CO LTD
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Problems solved by technology

The currently used obstacle tracking algorithm needs to perform feature point matching and obstacle segmentation on the twice-sampled obstacle information. Whether it is based on a depth map or an image-based feature point matching scheme, there are disadvantages of large amount of calculation and low accuracy.
Therefore, the accuracy of the relative speed algorithm of the current moving device is low, the calculation speed is slow, and it is impossible to make accurate predictions for obstacles

Method used

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Embodiment Construction

[0033] The technical problems solved by the embodiments of the present invention, the technical solutions adopted and the technical effects achieved are clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in the present application, all other equivalent or obviously modified embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Embodiments of the invention can be embodied in many different ways as defined and covered by the claims.

[0034] It should be noted that, in the following description, many specific details are given for the convenience of understanding. It may be evident, however, that the present invention may be practiced without these specific details.

[0035] It should be no...

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Abstract

The invention discloses an obstacle prewarning method and device.The method comprises the steps that firstly, a scene image at the current sampling moment, a scene image at the previous sampling moment and first relative distance images from all view points in a view field range to a moving device are acquired separately, then the outline and calibration information of an obstacle and a second relative distance image from the obstacle to the moving device at the current sampling current are obtained, and a second relative distance image from the obstacle to the moving device at the previous sampling current is calculated according to the first relative distance image at the precious sampling current, the outline and calibration information of the obstacle at the current sampling current and a motion vector from the obstacle at the current sampling moment to a corresponding obstacle at the previous sampling moment; secondly, the relative speed of the obstacle and the moving device at the current sampling current is calculated; thirdly, the time when the obstacle collides with the moving device is prejudged.According to the obstacle prewarning method and device, the technical problem of how to quickly and accurately prejudge the obstacle is solved.

Description

technical field [0001] Embodiments of the present invention relate to the technical fields of pattern recognition, machine learning, and video image processing, and in particular, to an obstacle early warning method and an obstacle early warning device. Background technique [0002] In addition to radar ranging and binocular vision ranging, the currently used algorithms for the relative distance between obstacles and moving devices such as cars, robots, and drones have low precision and missed obstacles in the ranging scheme using monocular vision. The downside of false positives. [0003] To obtain the relative speed of the obstacle and the moving device, it is necessary to track and match the two measured obstacle depths to obtain the corresponding relationship of the same obstacle in the two sampling data. The currently used obstacle tracking algorithm needs to perform feature point matching and obstacle segmentation on the twice-sampled obstacle information. Whether it ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06V20/58G08G1/166G08G5/0069G08G5/045G06T2207/10016G06T2207/10021G06T2200/04G06T7/223G06T7/248G06T2207/20081G06T2207/30261G01P3/64G06T2207/10012G06T2207/10044G08G1/16
Inventor 崔峰朱海涛孟然谢启伟姜安
Owner BEIJING SMARTER EYE TECH CO LTD
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