Rapid distance-measuring method for pedestrian on road ahead on the basis of on-board binocular camera

Abstract

The invention provides a rapid distance-measuring method for pedestrian on a road ahead on the basis of an on-board binocular camera and discloses a binocular detecting and distance-measuring method for a pedestrian applicable to an automatic driving system. The method comprises the steps: training a pedestrian detecting model by means of a pedestrian detecting method based on study, and detecting pedestrians in a binocular scene by means of the pedestrian detecting model; calculating a matching point of a point, chosen from the detection result of a left image, in a right image according to a color characteristic and a scale-invariant characteristic, and calculating a parallax value between matching pairs; obtaining an accurate parallax value of the detection result by means of a parallax mid-value searching method, and calculating a distance between the pedestrian and the camera according to a geometrical relationship between a camera coordinate system and an image coordinate system. With respect to the problems of slow calculation speed and inaccurate distance measurement in the present pedestrian detecting and distance-measuring method for a pedestrian based on the binocular camera, the method accelerates the detection speed by means of a road column-like model; and the distance-measuring accuracy of pedestrians in a road scene is improved by means of the matching of many characteristic points.

Description

technical field [0001] The invention belongs to the technical fields of computer vision, image processing, etc., and specifically relates to a method for quickly measuring pedestrians on the road ahead based on a vehicle-mounted binocular camera, which can be used in an automobile automatic driving assistance system in a complex scene. Background technique [0002] Self-driving cars can not only greatly improve the efficiency and safety of the transportation system, but also save us a lot of precious time, and will be the mainstream of future car development. In the automatic driving system based on vision navigation, target detection and ranging are the key technologies, which directly determine the performance of the automatic driving system. [0003] In vision-based navigation, binocular vision technology is the mainstream application technology in automatic driving assistance systems. Binocular ranging uses the principle of binocular stereo vision, that is, two cameras ...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of insufficient detection speed and insufficient detection accuracy existing in the existing binocular-based pedestrian detection and ranging, and make full use of the characteristics of binocular vision to provide a fast and effective road scene downlink Human detection and ranging method

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