Method and device for detecting height-limiting rod, and automatic driving system
US10944958B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 27, 2019 |
| Grant date | Mar 9, 2021 |
| Priority date | — |
| Expiry date | Sep 27, 2039 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N13/128
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
The present disclosure provides a method and a device for detecting a height-limiting rod, and an automatic driving system, for use in a binocular stereo camera. The method includes: filtering out invalid points in a disparity map corresponding to a target image in accordance with a predetermined detection range, so as to acquire a valid point disparity map; projecting the valid point disparity map along an X-axis direction in a three-dimensional coordinate system onto a plane where a Y axis and a Z axis are located, and counting the quantity of valid points for each row of pixels with respect to each disparity value, so as to acquire a projection image; filtering out invalid projection points and invalid blobs in the projection image, so as to acquire a valid blob image; and back-projecting the valid blob image to the three-dimensional coordinate system, and determining a rectangular region where the height-limiting rod is located in accordance with X-axis, Y-axis and Z-axis coordinate values.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.