Obstacle information generation method and device, electronic equipment and computer readable medium
An obstacle information and obstacle technology, applied in the computer field, can solve the problems of low accuracy of obstacle distance information, low accuracy of speed information, large error between obstacle information and real information, etc.
Active Publication Date: 2021-04-30
禾多科技(北京)有限公司
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Problems solved by technology
[0004] First, since the ground is not in an ideal plane state, there will be bumps in the actual driving process of the vehicle. Therefore, there will be a gap between the estimated obstacle information and the real information based on the assumption that the ground is level. The error between the obstacles is relatively large, resulting in low accuracy of the distance information and speed information of the generated obstacles
Furthermore, applying the generated obstacle information to the automatic driving process will bring higher risk
[0005] Second, only using the triangulation method to measure the distance information of the obstacle, without considering the factors that affect the distance of the obstacle (for example, the parameters of the camera), resulting in a low accuracy of the distance information of the generated obstacle, and then, resulting in less accurate velocity information generated
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[0023] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these examples are provided so that the understanding of this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.
[0024] It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings. In the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.
[0025] It should be noted that conc...
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The embodiment of the invention discloses an obstacle information generation method and device, electronic equipment and a computer readable medium. One specific embodiment of the method comprises the following steps: acquiring an image shot by a monocular camera in a vehicle; inputting the image into a preset obstacle detection model to obtain an obstacle image group and an obstacle image information group corresponding to the obstacle image group; based on the obstacle image information group, selecting an obstacle image satisfying a predetermined condition from the obstacle image group as a target obstacle image, and obtaining a target obstacle image group; and generating an obstacle information group based on the target obstacle image group and obstacle image information corresponding to each target obstacle image in the target obstacle image group. According to the embodiment, the accuracy of the generated obstacle information can be improved.
Description
technical field [0001] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a method, device, electronic equipment, and computer-readable medium for generating obstacle information. Background technique [0002] The obstacle information generation method is a technique for determining obstacle information in an image. At present, when generating obstacle information (for example, the obstacle is other vehicles, the obstacle information can be the distance information of other vehicles and the speed information of other vehicles), the usual way is: first assume that the ground is flat, according to the vehicle The image taken by the monocular camera in the image, the actual information of the obstacle in the image (for example, the actual size of the obstacle) is estimated, and then the distance information of the obstacle is measured by triangulation method, and finally the speed information is generated according to the ...
Claims
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Login to View More IPC IPC(8): G06K9/00G06T7/70G06N3/04
CPCG06T7/70G06V20/58G06N3/045
Inventor 黄立宏孙磊倪凯
Owner 禾多科技(北京)有限公司