A road curve detection method, device and terminal
A detection method and detection device technology, which are applied in character and pattern recognition, instruments, calculations, etc., can solve the problems of inability to accurately extract road areas and low detection accuracy.
Active Publication Date: 2020-05-22
HISENSE
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Problems solved by technology
[0005] The present invention provides a road curve detection method, device and terminal to solve the technical problems of low detection accuracy and inability to accurately extract road areas in road detection methods in the prior art
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[0060] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0061] The road curve detection method in the embodiment of the present invention can be applied in assisted driving and automatic driving technologies to accurately extract road areas before detecting road obstacles. In order to facilitate the understanding of the road curve detection method provided in the embodiment of the present invention, the basic concepts involved in the embodiment of the present invention are briefly introduced first. ...
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The embodiment of the present invention discloses a road curve detection method, device and terminal, which relate to the technical field of assisted driving, including: generating a V-disparity map after obtaining the disparity map of the image to be detected, performing Hough transform on the V-disparity map to obtain the Hough matrix, determine the target pixel point satisfying the preset condition from the pixel points of the Hough matrix, determine the road point envelope area according to the straight line corresponding to the target pixel point in the V-disparity map, and then in the road point envelope area Detect road points and finally get road curves. Since each straight line detected in the V-disparity map has the largest number of pixels on the straight line representing the road, the road point can be determined by filtering out the straight lines with the largest number of pixels in the V-disparity map Enveloping the area, thereby effectively reducing the range of road point detection, making the detection of road curves more in line with the real situation of the road, and improving the detection accuracy.
Description
technical field [0001] The present invention relates to the technical field of driving assistance, in particular to a road curve detection method, device and terminal. Background technique [0002] In assisted driving and automatic driving technologies, fast, accurate, and stable detection of road obstacles is a key technology, and accurate extraction of road areas is a necessary step for detecting road obstacles. Road obstacles can only be detected accurately under the premise of accurately extracting the road area. Among the existing solutions, the detection technology based on binocular stereo vision technology has attracted the general attention of major companies and researchers due to its low cost and large detection field of view. [0003] At present, the solutions based on binocular stereo vision technology are similar. Usually, two images (left view and right view) are collected at the same time, one of which is used as a reference image, and the other is used as a...
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IPC IPC(8): G06K9/00
CPCG06V20/588
Inventor 高伟杰
Owner HISENSE