Road region detection method and device and terminal

Abstract

The disclosure discloses a road region detection method and device and a terminal, and relates to the field of aided-driving technology. A scheme includes: acquiring a parallax image containing a roadregion, and generating a first V-disparity map corresponding to the parallax image; carrying out straight-line detection in the first V-disparity map, and forming a straight-line extension region, which represents the road region, around a detected straight line; generating a U-disparity map, which corresponds to first parallax points obtained by mapping of the straight-line extension region in the parallax image, according to the first parallax points; carrying out straight-line detection in the U-disparity map, forming straight-line extension regions around straight lines detected in the U-disparity map, and obtaining second parallax points by mapping of the straight-line extension regions in the parallax image; and obtaining intersection points of the first parallax points and the second parallax points in the parallax image by screening to obtain road fitting points representing the road region in the parallax image. According to the method, joint constraint is carried out throughthe V-disparity map and the U-disparity map, the road parallax points can be accurately found, and thus accurate detection of the road region is realized.

Description

Technical field [0001] The present disclosure relates to the technical field of assisted driving, in particular to a road area detection method, device, terminal, and computer-readable storage medium. Background technique [0002] With the development of urbanization and the popularization of vehicles, transportation problems have become increasingly serious. In recent years, the growth rate of vehicles has also been much higher than that of other traffic facilities on the road. Frequent traffic accidents, increasing casualties, and huge property losses all require vehicles not only to have good safety but also to have a certain degree of intelligence. , And then the concept of Intelligent Vehicle (Intelligent Vehicle) came into being. At the same time, people are studying an intelligent vehicle with the ultimate goal of achieving unmanned, fully automatic and safe driving. [0003] In assisted driving and automatic driving technologies, fast, accurate, and stable detection of ro...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of inaccurate extraction of road disparity points existing in related technologies, the present disclosure provides a road area detection method, device and terminal

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