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Low small obstacle detection method and device based on three cameras, and terminal equipment

An obstacle detection and camera technology, applied in the field of automatic driving visual perception, to achieve the effect of enhancing perception ability

Pending Publication Date: 2022-04-08
GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention proposes a method, device, robot and storage medium for detecting low and small obstacles based on three cameras to solve the problem of improving the detection accuracy of low and small obstacles

Method used

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  • Low small obstacle detection method and device based on three cameras, and terminal equipment
  • Low small obstacle detection method and device based on three cameras, and terminal equipment
  • Low small obstacle detection method and device based on three cameras, and terminal equipment

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Experimental program
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Embodiment 1

[0035] Figure 1A It is a flow chart of a three-camera-based low-short obstacle detection method provided by Embodiment 1 of the present invention, Figure 1B It is an example flow chart of data processing of the method for detecting low and small obstacles based on three cameras in Embodiment 1 of the present invention. This embodiment is applicable to improving the detection accuracy of low and small obstacles. The low and small obstacle detection device based on three cameras can be implemented by software and / or hardware, and can be configured in computer equipment, robots, for example, intelligent robots, servers, personal computers , etc., specifically include the following steps:

[0036] Step 101. Obtain a first image, a second image, and a third image that are synchronously captured by the first camera, the second camera, and the third camera.

[0037] Exemplarily, the first camera, the second camera, and the third camera are all set on the same plane, and are all us...

Embodiment 2

[0140] figure 2 The structural block diagram of a low and short obstacle detection device provided in Embodiment 2 of the present invention may specifically include the following modules:

[0141] An image acquisition module 201, configured to acquire a first image, a second image, and a third image synchronously acquired by the first camera, the second camera, and the third camera;

[0142] A first difference feature calculation module 202, configured to calculate the difference between the first image and the second image to obtain a first difference feature map;

[0143] The second difference feature calculation module 203, configured to calculate the difference between the third image and the second image to obtain a second difference feature map;

[0144] A difference fusion module 204, configured to fuse the first difference feature map and the second difference feature map to obtain a fusion feature map;

[0145] The post-processing module 205 is configured to determ...

Embodiment 3

[0172] image 3 It is a schematic structural diagram of a low and short obstacle detection device provided by Embodiment 3 of the present invention. image 3 A block diagram of an exemplary low obstacle detection device 12 suitable for implementing embodiments of the present invention is shown. image 3 The low and small obstacle detection device 12 shown is only an example, and should not impose any limitation on the function and application scope of the embodiment of the present invention.

[0173] Such as image 3 As shown, the low obstacle detection device 12 is represented in the form of a general-purpose computing device. Components of the low obstacle detection device 12 may include, but are not limited to: one or more processors or processing units 16 , a system memory 28 , and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16 ).

[0174] Bus 18 represents one or more of several types of bus structures, includ...

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Abstract

The embodiment of the invention provides a low and small obstacle detection method and device based on three cameras, and terminal equipment. The method comprises the following steps: acquiring a first image, a second image and a third image synchronously acquired by a first camera, a second camera and a third camera; calculating the difference between the first image and the second image to obtain a first difference feature map; calculating the difference between the third image and the second image to obtain a second difference feature map; fusing the first difference feature map and the second difference feature map to obtain a fused feature map; and determining an area where an obstacle is located based on the fused feature map. The generated difference features in two different directions are fused to form a complete obstacle difference feature, low and small obstacles are effectively identified, the influence of interference factors such as marking lines and shadows on the identification accuracy is reduced, and the obstacle sensing ability is enhanced.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving visual perception, and in particular to a three-camera-based low-profile obstacle detection method, device, and terminal equipment. Background technique [0002] As vehicles based on assisted driving and automatic driving are applied to various scenarios, the demand for obstacle detection is getting higher and higher. Accurate detection of obstacles can improve the safety of the vehicle during driving and ensure the normal driving of the vehicle. [0003] At present, there are mainly two methods for identifying obstacles in autonomous driving perception technology, visual perception recognition and laser perception recognition. Visual perception includes monocular vision combined with lidar, TOF (Time of flight; time of flight method), and binocular vision obstacle avoidance method. Obstacles recognized by monocular vision combined with lidar and TOF mainly includ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593G06T7/80G06N3/08G06N3/04G06V10/44G06V10/82
Inventor 赖志林周东开
Owner GUANGZHOU SAITE INTELLIGENCE TECH CO LTD
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