Height limiting rod detection and height calculation method

Abstract

The invention discloses a height limiting rod detection and height calculation method. Image information of a limiting rod is obtained through a binocular camera with binocular heights arranged in a staggered mode; edge points are extracted from the image information, matching is conducted through a high-robustness edge point matching algorithm, an edge point disparity map is obtained, the edge point disparity map is a map with only the edge points, and the value of each point is the left-right disparity size of the binocular camera; and based on the edge disparity map, detection is performedto obtain a group of edges possibly representing height limiting rods, respective heights of the edges are calculated, the edges of which the heights fall into the height range of the height limitingrods are taken as the height limiting rods, and the heights are output. The method has the advantages that an epipolar line is prevented from being parallel to a horizontal line, and the reliability of parallax calculation is ensured by adopting a high-robustness edge matching algorithm; and a calculation result is more accurate based on a height limiting rod detection algorithm of the edge disparity map of the image.

Description

technical field [0001] The invention relates to a detection and height calculation method of a height limit pole, which belongs to the technical field of automobile auxiliary driving. Background technique [0002] The height limit pole is a common safety device, and its purpose is roughly divided into two types. One is to warn the driver that there are obstacles in front of him to limit the height (parking lot entrance, viaduct, tunnel, etc.), and the other is to remind trucks not to enter . Generally, there is a specific height limit on the height limit pole, and the driver can judge whether the vehicle can pass safely. In recent years, in order to improve safety, some more accurate warning devices have appeared, such as setting up a laser height measuring device on the roadside in front of the height limit pole, and sending a warning signal to the driver when passing a vehicle over height. [0003] Recently, it has been proposed to use binocular vision for height limit p...

AI Technical Summary

Problems solved by technology

This method has two fundamental limitations: 1 / Because the height limit pole is horizontal and coincides with the epipolar line, and the height limit pole is painted with the same color or two colors, the reliability of the calculated parallax is low; 2 / At a slightly longer distance When , the width of the height limit bar in the image is very small, and the matching reliability is low, so it is removed during post-processing, and it is empty in the disparity map

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