Monocular camera-based distance measurement method, device and equipment, and storage medium

Abstract

The invention provides a monocular camera-based distance measurement method and device, equipment and a storage medium. The method comprises the steps that a road image shot when the mobile terminal device runs on a road is obtained in real time, a first target distance is obtained according to a current frame of the road image, and the first target distance is used for representing the longitudinal distance between a target object to be subjected to distance measurement in the current frame and the mobile terminal device; according to the image data of the target object in the current frame, the image data of the target object in a pre-stored reference frame and a pre-acquired weighted fusion coefficient, performing weighted fusion on the first target distance to obtain a second target distance after weighted fusion, weighted fusion is carried out on the measured first target distance according to the change conditions of the target object in different image frames, and an accurate distance measurement result can also be obtained in a complex road condition.

Description

technical field [0001] The present invention relates to the field of machine vision ranging, in particular to a ranging method, device, equipment and storage medium based on a monocular camera. Background technique [0002] As one of the important technologies in the field of machine vision, visual ranging has received extensive attention. It occupies an important position in the application of robots and unmanned driving, and is widely used in machine vision positioning and visual obstacle avoidance. Machine vision measurement is mainly divided into: monocular vision measurement, binocular vision measurement, structured light vision measurement, etc. Among them, monocular vision measurement has broad application prospects due to its simple structure and fast calculation speed. [0003] In the prior art, there are mainly two methods for distance measurement based on a monocular camera. The first method is triangular distance measurement based on vanishing lines, and the sec...

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Problems solved by technology

[0004] However, method 1, in scenes with complex road conditions, such as uphill, downhill, bumpy road sections, etc., the distance cannot be accurately obtained through a single vanishing line; moreover, the scale distance measurement of method 2 often cannot accurately obtain the distance to be measured The physical width of the target leads to inaccurate ranging results. It can be seen that none of the existing technologies can accurately measure the distance between the front object and the robot itself or the vehicle itself.

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