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Method and device for detecting road obstacle

An obstacle detection and obstacle technology, applied in instruments, character and pattern recognition, computer parts and other directions, can solve the problems of poor robustness of detection results and inability to detect irregular obstacles, and achieve accurate obstacle detection, The robustness of obstacle detection results

Active Publication Date: 2018-04-13
BEIJING SMARTER EYE TECH CO LTD
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Problems solved by technology

[0005] The main purpose of the present invention is to disclose a road obstacle detection method and device to solve the problem in the prior art that the detection of irregular obstacles cannot be well detected, resulting in poor robustness of the detection results

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  • Method and device for detecting road obstacle
  • Method and device for detecting road obstacle

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Embodiment Construction

[0030] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

[0031] figure 1 It is a flow chart of a road obstacle detection method described in an embodiment of the present invention.

[0032] see figure 1 As shown, a road obstacle detection method includes:

[0033] S101: Obtain a road image through a binocular device, and process the road image to obtain a disparity map of the road image;

[0034] S103: Perform image segmentation based on road surface information on the disparity map to obtain a binary image including obstacle areas as foreground and other areas as background;

[0035] S105: Perform a morphological operation on the binary image to obtain a template of an area to be detected that is a suspected obstacle;

[0036] S107: Perform information fusion of the template of the region to be detec...

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Abstract

The invention discloses a method and device for detecting a road obstacle. The method comprises: acquiring road images through a binocular device and processing the road images to obtain a disparity map of the road images; carrying out pavement-information-based image segmentation to obtain a binary image with an obstacle region as a foreground and other regions as a background; carrying out morphological operation on the binary image to obtain a to-be-detected region template of a suspected obstacle; carrying out information fusion of the to-be-detected region template and a monocular image being one of the road images to obtain a grayscale image of the to-be-detected region; and inputting the grayscale image into a preset obstacle detection model to carry out obstacle determination on the road images and determining the suspected obstacle based on a determination result. According to the invention, on the basis of fusion of respective advantages of binocular disparity information andmonocular image information, machine-learning-based target recognition and target classification are carried out to obtain a quick and accurate obstacle detection result.

Description

technical field [0001] The present invention relates to the technical field of digital image processing, and more specifically, to a road obstacle detection method and device. Background technique [0002] With the development of sensor technology and machine vision technology, more and more target detection technologies based on binocular parallax algorithm have emerged, and the obstacle information obtained by analyzing the parallax image is used in the field of robotics and smart cars. [0003] However, the existing technology mainly uses binocular parallax for distance detection. In terms of target detection, it cannot stably identify abnormal obstacles, and the robustness of target detection results is poor, and it is easy to be affected by environmental interference and cause detection errors. [0004] Therefore, the present invention fuses the respective advantages of binocular disparity information and monocular image information, by processing the binocular disparit...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/34G06K9/44G06K9/62
CPCG06V20/10G06V10/245G06V10/34G06V10/267G06F18/24G06F18/214
Inventor 姜安崔峰孟然朱海涛李洪军
Owner BEIJING SMARTER EYE TECH CO LTD
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