Image processing method and device and terminal

An image processing and parallax image technology, applied in the field of image processing methods, devices and terminals, can solve the problems of mistaken deletion, omission of deletion, and easy existence of large deviation of parallax points.

CN108319931AActive Publication Date: 2018-07-24HISENSE
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-07-24

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Abstract

The invention discloses an image processing method and device and a terminal, and belongs to the technical field of automobile assistant driving. The method comprises that a V disparity map corresponding to a parallax image to be detected is obtained, pixel points in each column of the V disparity map are arranged, and a type attribute of each column is determined according to a statistical result; and on the basis of the type attribute of each column, pavement candidate points are selected from corresponding pixel points according to a preset rule, and points which cause interference in detection of an obstacle are determined and deleted on the basis of the selected pavement candidate points. The type attribute of each column can indicate whether pixel points of the corresponding column include points corresponding to a pavement mark line or the obstacle, namely, the type attribute of each column can indicate distribution rules of parallax points corresponding to the pavement and obstacle in the V disparity map in practical; and thus, the pavement candidate points are selected from each column of pixel points according to the type attribute, and the pavement candidate points obtained by selection are more fit to the pavement distribution rules.
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Description

technical field

[0001] The present invention relates to the technical field of automobile driving assistance, in particular to an image processing method, device and terminal. Background technique

[0002] With the continuous development of intelligence, the auxiliary driving technology of automobiles has become a technology hotspot that automobile manufacturers are chasing. In existing advanced driving assistance systems, binocular cameras can be used to collect road condition images, and the collected road condition images can be processed through a stereo matching algorithm to obtain parallax images corresponding to the road condition images. Afterwards, obstacles ahead can be detected in this parallax image to ensure safe driving of the car. Wherein, in order to ensure the accuracy of obstacle detection, before determining the obstacle ahead in the parallax image, the parallax image can be processed first, so as to eliminate the points corresponding to the road marking ...

Examples

Embodiment Construction

[0088] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0089] Before explaining and describing the embodiments of the present invention in detail, the application scenarios of the embodiments of the present invention are firstly introduced.

[0090] The advanced driving assistance system is a kind of road condition image collected by radar, sensor or camera through image processing and computer vision technology, and predicts the pedestrians and vehicles in front according to the road condition image, and in the presence of potential danger. A system that warns the driver or controls the emergency braking of the vehicle. In advanced driving assistance systems, accurate detection of obstacles ahead is the key to effective early warning, and accurate extraction of road surfaces from road con...