Barrier and travelable area detection method based on vehicle-mounted binocular camera

A technology of binocular camera and detection method, applied in computer parts, instruments, character and pattern recognition, etc., can solve the problems of high environmental requirements, weak adaptability, and low precision, etc.

Active Publication Date: 2016-12-14
ZHEJIANG LEAPMOTOR TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The present invention mainly solves the technical problems existing in the prior art, such as high environmental requirements, weak adaptabilit

Method used

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  • Barrier and travelable area detection method based on vehicle-mounted binocular camera
  • Barrier and travelable area detection method based on vehicle-mounted binocular camera
  • Barrier and travelable area detection method based on vehicle-mounted binocular camera

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Embodiment

[0060] Embodiment: In this embodiment, an obstacle and drivable area detection method based on a vehicle-mounted binocular camera takes the binocular camera image as input, and the passable area and potential obstacle range as output, such as figure 1 shown, including the following steps:

[0061] 1. Obtain binocular images in RGB format.

[0062] 2. Preprocess the image, mainly including grayscale, distortion removal and stereo correction.

[0063] 3. For the disparity d corresponding to each pixel (u, v) in the preprocessed picture, calculate the matching cost C based on the difference of the absolute value of the gray value (SAD) v (u i ,v i , d i ), calculated as follows:

[0064] C v (u i ,v i , d i ) = img left (u i ,v i )-img right (u i -d i ,v i )

[0065] Among them, u i is the abscissa of pixel i in the image coordinate system, v i is the ordinate of pixel i in the image coordinate system, img left (u i ,v i ) is the absolute value of the gray v...

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Abstract

The invention discloses a barrier and travelable area detection method based on a vehicle-mounted binocular camera. The barrier and travelable area detection method comprises the following steps of S1, taking an image through a binocular camera; S2, preprocessing the image; S3, calculating the final matching cost of each pixel point in the image; S4, calculating through the final matching cost to obtain a v-disparity map; S5, determining the horizon line and the road scope by means of the v-disparity map; S6, calculating to obtain a barrier-road intersecting line in the road scope; S7, determining the scope of the current lane and the outermost lane; S8, calculating to obtain the height of the barrier on the part above the barrier-road intersecting line; S9, determining the image areas which belong to the same barrier; and S10, outputting the road area information and barrier information. Under the premise that disparity precision is not reduced, unnecessary binocular disparity map calculation is avoided, and therefore the real-time performance of the algorithm is greatly improved, and the barrier and travelable area detection method based on the vehicle-mounted binocular camera is suitable for fields of driving warning, automatic driving and the like.

Description

technical field [0001] The invention relates to the field of road image recognition processing, in particular to a method for detecting obstacles and drivable areas based on a vehicle-mounted binocular camera with high accuracy. Background technique [0002] The collection and analysis of traffic information around the vehicle is an important basis for driving warning, assisted driving and automatic driving. The existing relevant sensing technologies are mainly based on monocular cameras, and some systems are assisted by ranging sensors such as millimeter-wave radars. The existing system can measure the distance to the vehicle in front on some good roads and working conditions, but there are still some defects: [0003] 1. Obstacle ranging based on monocular vision: Most of these methods use the calibrated camera height and pitch angle information, based on the assumption of a flat road, and use the boundary image features of the intersection of the obstacle and the road to...

Claims

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Application Information

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IPC IPC(8): G06K9/00
CPCG06V20/588G06V20/58
Inventor 缪其恒
Owner ZHEJIANG LEAPMOTOR TECH CO LTD
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