Method for ranging deep learning obstacle based on binocular vision

Abstract

The invention discloses a method for ranging deep learning obstacle based on binocular vision. Firstly, the binocular camera is calibrated to obtain the camera model parameters and the geometric positional relationship between the first camera and the second camera. Then the deep learning-based faster-RCNN network is used to determine the region where the detection target is located. The three-dimensional coordinates and distance of the target in space can be determined by knowing the coordinates of the target on the image and the relative position thereof between the binocular cameras. This method can realize obstacle detection and distance measurement in the visual blind zone behind the vehicle during the vehicle reversing process. It is only necessary to install the binocular camera model on the vehicle body, and detect the distance between the obstacle and the vehicle in the environment through the deep learning target detection algorithm and the camera model. The method for ranging deep learning obstacle based on binocular vision is fast, effective and easy to install. The needs of real-time detection of blind zones in vehicles can be met, so as to pre-alarm drivers to ensurethe life and property safety of drivers.

Description

technical field [0001] The invention belongs to the technical field of stereo vision ranging methods, in particular to a binocular vision-based deep learning obstacle ranging method. Background technique [0002] With the improvement of people's living standards, the number of automobiles in the country continues to increase. By the end of 2017, the number of motor vehicles in the country had reached 310 million. The increase in the number of cars not only makes life more convenient, but also brings safety hazards. In 2016 alone, there were 8.643 million road traffic accidents. Because the driver can only judge the environment behind the vehicle through technologies such as rearview mirrors and reversing radars during the reversing process, it is inevitable that there will be problems with single functions or blind spots, which will cause great inconvenience to traffic participants. A large part of automobile accidents is caused by poor driving vision. With the increase of...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a deep learning obstacle distance measurement method based on binocular vision, which solves the problem that the obstacle target cannot be found in the face of complex scenes in the existing distance measurement method, and the detection speed is slow

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