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Method and system for acquiring target obstacle position
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An acquisition method and obstacle technology, applied in the field of acquisition of target obstacle positions, can solve the problems of low calculation efficiency, insufficient smooth target trajectory, complex calculation method, etc., and achieve the effect of small calculation amount and smooth and stable target trajectory.
Active Publication Date: 2022-02-08
SUZHOU ZHIJIA SCI & TECH CO LTD
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Problems solved by technology
[0009] 1. The obtained parallax is not accurate enough;
[0010] 2. The calculation method is complex and the calculation efficiency is low;
[0011] 3. Real-time ranging cannot be realized on high-resolution images;
[0012] 4. The images processed by the prior art are all processed single frame information, without considering the continuous frame information, and the final target trajectory is not smooth enough
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Embodiment 1
[0068] figure 1 A schematicflow chart of a method for obtaining the position of a target obstacle provided by an embodiment of the present invention; see figure 1 , the method includes the following steps;
[0069] S100: Obtain the left image and the right image of the binocular camera;
[0070] S200: Obtain target obstacle information according to the left figure;
[0071] S300: Confirm the search area of the target obstacle in the right picture according to the information of the target obstacle;
[0072] S400: Search for the target obstacle in the search area, and determine the precise parallax value of the target obstacle;
[0073] S500: Obtain the position information of the target obstacle according to the precise parallax value of the target obstacle and the coordinate value of the center point of the rectangular box in the second image;
[0074] S600: Updating the position information of the target obstacle according to the position information of the current ta...
Embodiment 2
[0123] Figure 4 A system for acquiring the position of a target obstacle provided by an embodiment of the present invention, the system includes a first acquisition module, a second acquisition module, a confirmation module, a search module, a third acquisition module, an update module, and an optimization module; wherein,
[0124] The first acquiring module is used to acquire the left image and the right image of the binocular camera;
[0125] The second acquisition module is used to acquire target obstacle information according to the left figure;
[0126] The confirmation module is used to confirm the search area of the target obstacle in the right figure according to the information of the target obstacle;
[0127] The search module is used to search for the target obstacle according to the search area, and determine the precise parallax value of the target obstacle;
[0128] The third acquisition module is used to acquire the position information of the target obstac...
Embodiment 3
[0144] Figure 5 It is a structural schematic diagram of an embodiment of an electronic device of the present invention, see Figure 5 , in this embodiment, an electronic device is provided, including but not limited to smart phones, landline phones, tablet computers, notebook computers, wearable devices and other electronic devices, the electronic device includes: a processor and a memory, the memory Computer readable instructions are stored which, when executed by the processor, implement the acquisition method of the present invention described above.
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Abstract
The present invention provides a method and system for acquiring the position of a target obstacle. The acquisition method includes the following steps: acquiring a first image and a second image of a binocular camera; acquiring target obstacle information according to the first image; and acquiring target obstacle information according to the target obstacle information Confirm the search area of the target obstacle in the second image; search for the target obstacle in the search area to determine the precise parallax value of the target obstacle; according to the precise parallax value of the target obstacle and the center of the rectangular box in the second image The position information of the target obstacle is obtained by the coordinate value of the point; the position information of the target obstacle is updated according to the position information of the current target obstacle and the accurate parallax value. The present invention calculates the parallax of the target obstacle for a specific area in the image, because it does not need full-image calculation, and only considers the specific area of interest, the calculation amount is small, and it can also be processed in real time on high-resolution images.
Description
technical field [0001] The invention belongs to the technical field of intelligent transportation, and in particular relates to a method and system for acquiring the position of a target obstacle. Background technique [0002] For more than a century, the emergence of automobiles has replaced traditional transportation methods, making people's lives more convenient. In recent years, with the development of science and technology, especially the rapid development of intelligent computing, research on autonomous vehicle technology has become a hot spot in various industries. McKinsey's "12 Frontier Technologies That Determine the Future Economy" report explores the impact of 12 cutting-edge technologies on the future economy and society, and analyzes and estimates the economic and social influence of the 12 technologies in 2025. Among them, self-driving cars Technology ranks 6th, and its influence in 2025 is estimated to be: the economic benefits are about 0.2-1.9 trillion US...
Claims
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