Vision-based target distance measuring and calculating method

Abstract

The invention discloses a vision-based target distance measuring and calculating method, which can adaptively select a distance measuring strategy according to a vehicle distance, a posture, a shielding state and / or the size of a target frame, and improve the reliability of a distance measuring result by fusing a plurality of different distance measuring methods. The adaptive weight distribution method combining the estimated distance and the target pixel value greatly reduces the adaptability problem of a single distance measurement method in different distance spans, and can improve the overall distance measurement precision. In addition, the ranging stability is good, and the robustness for the influence of factors such as vehicle bumping, inclination and shielding in actual ranging ishigh; meanwhile, by selecting proper weight parameters, an optimal effect parameter value can be quickly obtained, the method is convenient to apply in an actual use scene, detection is efficient andreliable on the basis of not additionally increasing the system hardware cost, the detection precision is high, and very high practicability is achieved.

Description

Technical field [0001] The present invention relates to the field of measurement and computer image processing, in particular to image ranging technology in the field of automatic driving, mobile robots and / or image monitoring, and in particular to a vision-based method and device for measuring and calculating a target distance. Background technique [0002] With technological progress and technological development, autonomous driving has become a research hotspot in the field of transportation tools at this stage. Autonomous walking is one of the development directions of mobile robots, and automatic recognition is an important function in the field of image monitoring. Visual perception systems based on computer image processing are widely used in the fields of autonomous driving, mobile robots and / or image surveillance. The realization of autonomous driving through the perception system is a major advancement and innovation in the history of transportation. The perception syst...

AI Technical Summary

Problems solved by technology

[0009] Aiming at the above technical problems, the present invention proposes a new method for adaptively selecting a ranging strategy based on the vehicle distance, posture, occlusion state and size of the target frame in order to solve the distance measurement problem of the vehicle in front of the vehicle. Far and near dynamic selection of the optimal ranging result, to solve the problem of the single ranging method in the actual vehicle ranging application, and improve the overall ranging accuracy

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