Real-time ground fusion method and system based on binocular stereoscopic vision and intelligent terminal
A technology of binocular stereo vision and fusion method, applied in the field of automatic driving assistance, can solve the problems of low road height detection accuracy, affecting vehicle comfort, etc., and achieve the effect of improving comfort
Active Publication Date: 2021-12-07
BEIJING SMARTER EYE TECH CO LTD
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However, the back-projection of the original binocular disparity map to the space point cloud will have a spatial hole, which will become more and more obvious with the distance, resulting in low detection accuracy of the road height, thus affecting the comfort of the vehicle
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[0062] The implementation mode of the present invention is illustrated by specific specific examples below, and those who are familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this description. Obviously, the described embodiments are a part of the present invention. , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0063] The camera has become an indispensable item in obstacle perception, and the binocular stereo camera can provide accurate point cloud data at close range, which is very suitable for sensing the height of the ground in front of the vehicle. After obtaining the information of the height of the ground ahead, the suspension of the vehicle body can be adjusted adaptively based on this informatio...
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The invention discloses a real-time ground fusion method and system based on binocular stereoscopic vision and an intelligent terminal, and the method comprises the steps: S1, obtaining a disparity map of the same road scene, and converting the disparity map of a target region into a three-dimensional point cloud; S2, performing pose conversion on the current frame and the next frame adjacent to the current frame, and performing reverse conversion on the three-dimensional point cloud of the current frame; and S3, taking each frame in the target area as the current frame in sequence, and repeating the step S2 to complete road surface fusion. According to the method, conversion and fusion of the front frame and the rear frame are utilized, so that a hole caused by disparity map projection in the auxiliary driving process of the vehicle is made up, accurate height data can be output, and then the comfort of the vehicle is improved.
Description
technical field [0001] The invention relates to the technical field of automatic driving assistance, in particular to a real-time ground fusion method, system and intelligent terminal based on binocular stereo vision. Background technique [0002] With the development of autonomous driving technology, people's requirements for the safety and comfort of assisted driving vehicles are also increasing. In the assisted driving process, the road height is one of the important adjustment parameters. The road height of the vehicle can be sensed through the road height detection, so as to provide data support for the adaptive adjustment of the body suspension. However, there will be spatial holes in the back-projection of the original binocular disparity map to the spatial point cloud, which will become more and more obvious with the distance, resulting in low detection accuracy of the road surface height, thus affecting the comfort of the vehicle. [0003] Therefore, a road height ...
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IPC IPC(8): G06T5/50
CPCG06T5/50G06T2207/10028G06T2207/20221G06T2207/30256G06V20/56G06T2207/20084H04N13/128H04N2013/0081H04N13/239G06T7/593G06V10/806G06V10/82G06T2207/20081
Inventor 肖志鹏王欣亮裴姗姗孙钊
Owner BEIJING SMARTER EYE TECH CO LTD