Ground Bump Detection Using V-Disparity Curve Analysis
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Solution Overview
Problem
Existing methods for detecting bumps and depressions on the ground, such as using distance sensors in autonomous vehicles, are costly and require external installations, which can deform the vehicle and are not precise.
Innovation Solution
A method and device that utilize a V-disparity map from a target image to detect components indicating ground information, determine a polynomial, and calculate the distance between a linear line and a target point to determine the presence of bumps and depressions on the ground.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a distance sensor is installed outside the vehicle to detect ground shape, then measurement precision is improved, but device complexity and installation cost increase
Solution Approach 1:
The patent extracts the ground detection function from external distance sensors and relocates it to the vehicle's existing camera system. By processing images captured by the camera through V-disparity map generation and polynomial curve analysis, the system achieves ground shape detection without adding external sensors, thereby reducing device complexity while maintaining measurement capability
Solution Approach 2:
The patent creates a virtual representation of the ground surface by generating a V-disparity map from camera images and fitting polynomial curves to represent the ground profile. This virtual model serves as a substitute for physical distance sensors, enabling ground shape detection through image processing rather than direct physical measurement
2Measurement precision
If external distance sensors are installed on the vehicle, then ground detection capability is improved, but the vehicle structure is deformed
Solution Approach 1:
The patent enables the vehicle's existing camera system to perform ground detection functions that would otherwise require external distance sensors. The camera, already installed for other purposes, is utilized to capture images that are processed to detect bumps and depressions, eliminating the need for additional external installations that could deform the vehicle structure
3Measurement precision
If polynomial curve fitting is applied to V-disparity map data, then detection accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent segments the ground detection process into distinct stages: generating V-disparity map from camera images, identifying ground components in the disparity map, fitting polynomial curves to represent ground profile, and analyzing curve characteristics to detect bumps and depressions. This segmentation allows complex polynomial operations to be applied only to processed disparity data rather than raw images, reducing overall computational complexity
Data Source
AI summary
In order to determine whether bumps and depressions are present on the ground in a target image, the present invention: acquires a V-disparity map on the basis of a target image acquired by means of an image sensor; detects, in the V-disparity map, at least one component indicating information about the ground in the target image; determines a polynomial in a coordinate system in the V-disparity map for the component; determines a straight line passing through two different inflection points on a curve, which corresponds to the polynomial, in the coordinate system in the V-disparity map; determines a target point on the curve, the target point having a tangential slope identical to the slope of the straight line; calculates the distance between the straight line and the target point; and determines, on the basis of the distance, whether the ground includes bumps and depressions.