Vehicle-mounted camera automatic shielding detection method and device

Abstract

The invention discloses a novel self-adaptive vehicle-mounted camera automatic shielding detection method. Meanwhile, time domain, frequency domain and spatial domain characteristics of the shieldingobject are considered; the time domain, frequency domain and spatial domain characteristics of the shelter are combined; the invention comprises a static detection mode and a dynamic detection mode; in combination with related information of an IMU and a wheel speed meter, the static detection mode and the dynamic detection mode are fused during detection; a shielded suspicious area selected in the static detection mode can serve as input of the dynamic detection mode, and part of output of a previous detection period can also serve as input of a next detection period; the static condition ofthe current frame and the time domain change condition in one detection period are considered at the same time in detection, the shielding condition of the vehicle-mounted camera lens can be accurately detected in real time, the detection precision is high, the detection efficiency is high, and the reliability of a sensing system of an automatic driving or auxiliary driving system is greatly improved.

Description

technical field [0001] The invention relates to the field of automatic detection, in particular to a method and device for automatic occlusion detection of a vehicle-mounted camera. Background technique [0002] With the advent of the intelligent era, both automatic driving and driver assistance systems more or less need the support of visual modules. The blocking of the camera in the vision module will greatly affect the normal opening of these functions, and even endanger the lives of passengers, especially when it is suddenly blocked by foreign objects during driving, so it is necessary to automatically detect whether the camera is blocked. Camera occlusion, especially vehicle-mounted camera occlusion, is complicated and the scene is diverse. The foreign objects occluded include splashed mud stains, oil stains, rain, leaves, snowflakes, artificial paint spraying, and other parts of the car (such as wipers). For occlusion, a warning needs to be issued, and even the vision...

AI Technical Summary

Problems solved by technology

[0010] The present invention aims at the technical problem that the traditional camera lens occlusion detection method cannot effectively detect whether the vehicle camera lens is blocked, and proposes a new automatic detection method, which can effectively detect whether the vehicle camera and the vehicle camera head are blocked

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