Ground segmentation method and device based on stereoscopic vision, vehicle-mounted equipment and storage medium

A stereo vision and ground technology, applied in instruments, character and pattern recognition, computer parts and other directions, can solve problems such as large errors, unable to fit the ground, unable to obtain the ground, etc., to improve the calculation speed, high accuracy of stereo matching, The effect of reducing the amount of calculation

Pending Publication Date: 2020-09-22
CHANGSHA INTELLIGENT DRIVING INST CORP LTD
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method needs to use multiple cameras to capture multiple sets of lane lines, and cannot fit the ground in real time; at the same time, this method only uses three points that are not on the same straight line to determine a plane, and there is a large error ; In addition, this method only fits a ground plane and cannot obtain the real ground

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Ground segmentation method and device based on stereoscopic vision, vehicle-mounted equipment and storage medium
  • Ground segmentation method and device based on stereoscopic vision, vehicle-mounted equipment and storage medium
  • Ground segmentation method and device based on stereoscopic vision, vehicle-mounted equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051]The technical solutions of the present invention will be further described in detail below in conjunction with the drawings and specific embodiments of the description. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0052] Such as figure 1 Shown is a method flow chart of a ground segmentation method based on stereo vision provided by an embodiment of the present invention. This method can be applied to an on-board device of an intelligent driving vehicle. An integrated device, the embodiment of the present invention does not limit the specific...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The embodiment of the invention discloses a ground segmentation method based on stereoscopic vision. The method comprises the following steps: acquiring three-dimensional point cloud data of a targetscene image; acquiring three-dimensional point cloud data of a lane line in the target scene; determining an estimated ground according to the three-dimensional point cloud data of the lane line, anddetermining a ground point cloud of the target scene image when the distance between the three-dimensional point cloud data of the target scene image and the estimated ground meets a set condition; and determining the ground of the target scene image according to the ground point cloud of the target scene image. The embodiment of the invention further discloses a ground segmentation device based on stereoscopic vision, vehicle-mounted equipment and a storage medium.

Description

technical field [0001] The present invention relates to the field of intelligent driving, in particular to a ground segmentation method, device and vehicle-mounted equipment based on stereo vision. Background technique [0002] In the car driving scene, the 3D point cloud of the target scene image collected by the binocular camera is very dense. For example, a 1920*1080 picture has more than 2 million corresponding 3D point clouds, far The number of 3D point clouds generated by more than one lidar. Therefore, if the ground plane collected by the target scene image can be segmented, the calculation operation of the subsequent 3D point cloud can be significantly reduced. [0003] In the known technology, it is disclosed that a plane is determined by a camera and any straight line in its field of view, and four planes are generated by using four cameras on the front, rear, left, and right sides of the vehicle body, and then the intersection lines of each plane are calculated s...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06K9/00G06K9/34
CPCG06V20/56G06V20/588G06V10/267
Inventor 胡荣东彭清谢林江彭美华
Owner CHANGSHA INTELLIGENT DRIVING INST CORP LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap