A height limit early warning method based on binocular stereo vision
A technology of binocular stereo vision and height limitation, which is applied in the directions of instruments, character and pattern recognition, scene recognition, etc., to achieve the effect of simplifying calculation steps, ensuring accuracy and speeding up calculation efficiency
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[0039] Such as figure 1 As shown, according to an embodiment of the present invention, a height limit early warning method based on binocular stereo vision of the present invention includes:
[0040] S1. Obtain the disparity map of the original image based on the original image captured by the binocular camera, and obtain the current driving path of the vehicle in the world coordinate system;
[0041] S2. Calculate the first coordinate of each pixel in the disparity map projected to the world coordinate system;
[0042] S3. According to the first coordinate, judge whether the corresponding pixel point in the disparity map is in the driving path, if so, project the pixel point onto the vertical coordinate plane parallel to the head plane of the binocular camera in the world coordinate system;
[0043] S4. Judging whether there is an obstacle based on the preset height area on the vertical coordinate plane, and if so, obtaining the average height of the obstacle;
[0044] S5. ...
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