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Obstacle detection method, device, system and equipment and storage medium

An obstacle detection and obstacle technology, applied in the field of obstacle detection, can solve the problems of affecting the speed information of obstacles, low positioning accuracy, and inability to map three-dimensional space, etc., to achieve simple and mature data algorithms, many reference ideas, and technical reserves. sufficient effect

Pending Publication Date: 2020-05-19
新奇点智能科技集团有限公司
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Problems solved by technology

But at present, based on the camera, only two-dimensional information of obstacles can be obtained, the positioning accuracy is not high, and it cannot be mapped to the actual three-dimensional space, which affects the calculation of obstacle speed information

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  • Obstacle detection method, device, system and equipment and storage medium
  • Obstacle detection method, device, system and equipment and storage medium
  • Obstacle detection method, device, system and equipment and storage medium

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Embodiment Construction

[0076] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0077] Obstacles mainly refer to objects on the road that affect the driving and passage of vehicles. They are mainly divided into two categories. One category mainly refers to pedestrians, vehicles, traffic signs, etc., and the other category of obstacles also includes unconventional objects such as stones and plastic bags.

[0078] Obstacle detection: detect obstacles in the perceived foreground area, including but not limited to: pedestrians, bicycles, cars, trucks, etc....

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Abstract

The invention provides an obstacle detection method, device, equipment and system and a storage medium, relates to the technical field of intelligent equipment, and aims to obtain three-dimensional information of an obstacle based on monocular camera detection. The method includes performing foreground segmentation on the road condition image acquired by the monocular camera to obtain a foregroundregion image; performing obstacle extraction on the foreground area image to obtain plane information of a target obstacle under camera coordinates; and based on computer vision projection inverse transformation, substituting the plane information into a preset plane equation to obtain a three-dimensional frame of the target obstacle.

Description

technical field [0001] The present application relates to the technical field of smart devices, and in particular, to an obstacle detection method, device, device, system and storage medium. Background technique [0002] In the commercial fields such as new urban infrastructure and future communities, the demand for vehicle-road coordination, automatic driving, and assisted driving has become increasingly urgent. Avoid obstacles, etc. [0003] Most of the existing technologies are based on lidar, millimeter-wave radar, camera or a combination of multiple sensors to detect obstacles in the road progress of unmanned vehicles; however, millimeter-wave radar is large in size, inconvenient to install, and has low bandwidth and resolution. , the perceived data is not accurate enough, and the height information of obstacles cannot be obtained; lidar can obtain more accurate three-dimensional data of obstacles, but the manufacturing cost is high, mass production is difficult, and t...

Claims

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Application Information

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IPC IPC(8): G06T7/194G06T7/70
CPCG06T7/194G06T7/70G06T2207/10012
Inventor 冯家政程邦胜方晓波张辉
Owner 新奇点智能科技集团有限公司
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