Stereo Camera U-Map Depth Separation for Collision Avoidance
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Solution Overview
Problem
Current collision avoidance systems face challenges in accurately detecting and separating objects at long distances due to deteriorating range resolution, often combining multiple objects into one, leading to inaccurate detection.
Innovation Solution
The implementation of a stereo camera system with a CPU-controlled image processing device generates a U-map and performs depth separation using one-dimensional histograms to accurately separate objects based on disparity values, enhancing resolution and detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If stereo vision or millimeter-wave radar is used to detect objects at long distance, then detection range is extended, but range resolution deteriorates causing multiple objects to be combined into one
Solution Approach 1:
The patent segments objects that were previously detected as a single combined object by using depth information from U-maps to separate them into individual objects based on their spatial positions and depth values
Solution Approach 2:
The patent introduces depth as an additional dimension by generating U-maps from stereo vision data, transforming 2D image data into 3D spatial information to resolve objects that overlap in 2D but are separated in depth
2Speed
If object detection is performed using conventional methods, then detection speed is maintained, but accuracy deteriorates when objects are at long distance
Solution Approach 1:
The patent performs preliminary depth calculation and U-map generation before final object detection, preparing depth information in advance to improve subsequent object separation and detection accuracy
Solution Approach 2:
The patent introduces U-maps as an intermediary data structure that bridges stereo vision data and object detection, enabling accurate depth-based object separation without compromising detection speed
Data Source
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AI summary
The information processing device (30) and the information processing method include generating two-dimensional distribution data in which a position of an object in a horizontal direction and a position of the object in a depth direction are associated with a frequency value, detecting the object, based on the two-dimensional distribution data, integrating the frequency value according to a position in the depth direction to generate amounts of characteristics, specifying a to-be-separated position based on the amounts of characteristics, and separating the object at the to-be-separated position. The carrier means carries computer readable code for controlling a computer to carry out the information processing method.