Detecting method and device of obstacles based on disparity map and automobile driving assistance system

US10217007B2 · kind B2 · utility

Inventors

• Qiwei Xie · Beijing, CN
• An Jiang · Beijing, CN
• Xi Chen · 流花街道, CN
• Feng Cui · Nanchang, CN
• Haitao Zhu · Shanghai, CN
• Ran Meng · Beijing, CN

Key dates

• Filing date: Mar 27, 2017
• Grant date: Feb 26, 2019
• Expiry date: Jun 22, 2037

Classification

• Technology area (CPC G): Physics
• CPC primary: G06V2201/07
• WIPO field: Control
• WIPO sector: Instruments

Abstract

The present disclosure provides a disparity map-based obstacle detection method, a disparity map-based obstacle detection device, and a vehicle assistant driving system. The method includes steps of: acquiring a disparity map and a V disparity map in accordance with an image including a road surface; simulating the road surface in accordance with the V disparity map; identifying a first obstacle in accordance with a simulation result; extracting an object whose disparity value is greater than a first threshold in accordance with the disparity map, and subjecting the object to morphological operation so as to identify a second obstacle; extracting an object whose disparity value is smaller than a second threshold in accordance with the disparity map, and subjecting the object to morphological operation so as to identify a third obstacle; and screening the first obstacle, the second obstacle and the third obstacle in accordance with a training model, so as to detect the obstacle, the training model being acquired through machine learning in accordance with correct obstacle information and erroneous obstacle information. According to the present disclosure, it is able to improve the r…