Reversing obstacle automatic detection and early warning method based on binocular vision

Abstract

The invention relates to a reversing obstacle automatic detection and early warning method based on binocular vision. The method comprises steps that: 1), a binocular camera is calibrated; 2), a pavement area without abundant textures is removed from a binocular video frame image pair; 3), the contour at the right eye image is extracted, and cutting amount of a left eye image is determined; 4), a disparity image based on the left eye image is acquired according to the cut left eye image and the complete right eye image; 5), a splicing position of the right eye image is determined according to the disparity image of the left eye image, and the left and right eye images are spliced; 6), a suspected barrier contour and an external rectangle are extracted from the spliced image of the left and right eye images; and 7), pixel height of the suspected obstacle is calculated, the obstacle is screened, a distance to the obstacle is calculated, obstacle and distance marks are made on the spliced image, and grading early warning is realized. The reversing obstacle automatic detection and early warning method has advantages of simple and practical performance and high accuracy.

Description

technical field [0001] The invention belongs to the technical field of automobile intelligent assisted safe driving, and relates to an automatic detection and early warning method for reversing obstacles based on binocular vision. Background technique [0002] Cars are one of the most important means of transportation in the world today. With the increase in the number of cars, people are paying more and more attention to the safety driving assistance technology of vehicles. Reversing is a very important item in car driving. Due to the range of human perspective, There are blind spots in the rearview mirror, misuse by the driver, unskilled novice and other reasons, which can easily lead to the occurrence of reversing accidents. Installing a reversing auxiliary device can effectively reduce the probability of reversing accidents. There are two main types of commonly used reversing auxiliary devices at present: the reversing probe and the reversing image. [0003] The reversi...

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Problems solved by technology

[0007] The purpose of the present invention is to provide a method for automatic detection and early warning of reversing obstacles based on binocular vision, which solves the problems of the reversing equipment based on binocular vision in the prior art, the disparity map is susceptible to areas with insufficient texture, and the left side of the left-eye image. Due to the influence of area mismatch, the calculation accuracy of obstacle distance is not high, and the matching speed of binocular disparity map is slow

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