A height limit early warning method based on binocular stereo vision

A technology of binocular stereo vision and height limitation, which is applied in the directions of instruments, character and pattern recognition, scene recognition, etc., to achieve the effect of simplifying calculation steps, ensuring accuracy and speeding up calculation efficiency

CN109409311AInactive Publication Date: 2019-03-01上海为森车载传感技术有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-03-01
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a height limit early warning method based on binocular stereo vision, which comprises the following steps: S1, obtaining a disparity map of an original image based on the original image shot by a binocular camera, and obtaining a current driving path of a vehicle in a world coordinate system; S2, calculating a first coordinate of each pixel point projected to a world coordinate system in the disparity map; S3, judging whether a corresponding pixel point in the disparity map is in a driving path according to the first coordinate, and if yes, projecting the pixel point to a vertical coordinate plane parallel to the image surface of the binocular camera in a world coordinate system; S4, whether an obstacle exists is judged based on a preset height area on the verticalcoordinate plane, and if yes, the average height of the obstacle is obtained; and S5, repeating the steps S1 to S4 to judge and track the obstacle in multiple frames, further confirming that the obstacle is a height limit mark, and giving an early warning. According to the method, the calculated amount is small, and the accuracy is high.
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Description

technical field

[0001] The invention relates to a height limit early warning method, in particular to a height limit early warning method based on binocular stereo vision. Background technique

[0002] With the development of the economy, urban transportation is also booming. On some roads in urban traffic, in order to restrict the passage of super-high vehicles, height-limiting obstacles are often added to avoid accidents such as over-high vehicles getting stuck on bridges and crashing into bridges. occurrence, to ensure the normal passage of the road. However, such traffic accidents still occur from time to time. At present, there is still no effective device for accurately detecting the height-limiting obstacles in front of the vehicle. Accidents, but also prone to driver negligence.

[0003] For example, the application publication number is CN105915846A, and the Chinese patent titled "a method and system for monitoring intrusions with single and binocular multiplexing...

Examples

Embodiment approach

[0039] Such as figure 1 As shown, according to an embodiment of the present invention, a height limit early warning method based on binocular stereo vision of the present invention includes:

[0040] S1. Obtain the disparity map of the original image based on the original image captured by the binocular camera, and obtain the current driving path of the vehicle in the world coordinate system;

[0041] S2. Calculate the first coordinate of each pixel in the disparity map projected to the world coordinate system;

[0042] S3. According to the first coordinate, judge whether the corresponding pixel point in the disparity map is in the driving path, if so, project the pixel point onto the vertical coordinate plane parallel to the head plane of the binocular camera in the world coordinate system;

[0043] S4. Judging whether there is an obstacle based on the preset height area on the vertical coordinate plane, and if so, obtaining the average height of the obstacle;

[0044] S5. ...