Vision-based target distance measurement method

Abstract

A vision-based target distance measurement method, which can adaptively select a ranging strategy according to the vehicle distance, attitude, occlusion state and / or the size of the target frame, and improve the reliability of the ranging results by fusing multiple different ranging methods; combined with The adaptive weight distribution method of estimated distance and target pixel value can greatly reduce the adaptability of a single ranging method in different distance spans, and can improve the overall ranging accuracy; The distance is affected by factors such as vehicle bumps, tilts, and occlusions. It is robust; at the same time, by selecting appropriate weight parameters, the optimal effect parameter value can be quickly obtained, which is convenient for application in actual use scenarios. On the basis of increasing the cost of system hardware, the detection is efficient and reliable, the detection accuracy is high, and it has high practicability.

Description

technical field [0001] The present invention relates to the fields of measurement and computer image processing, in particular to image distance measurement technology in the fields of automatic driving, mobile robots and / or image monitoring, and in particular to a vision-based target distance measurement method and device. Background technique [0002] With the advancement of technology and the development of science and technology, automatic 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 progress and innovation in the history of transportation d...

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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