Patent · US Active

Method and apparatus for detecting obstacle, electronic device, vehicle and storage medium

US11393219B2 · kind B2 · utility

0Cited by

1References

16Claims

0Family size

Assignee

APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD. · CN

Inventors

Dongming Chen · Beijing, CN
Xun Sun · Jinan, CN
Liang Wang · Shanghai, CN

Key dates

Filing date	Sep 26, 2019
Grant date	Jul 19, 2022
Priority date	—
Expiry date	Sep 15, 2040

Classification

Technology area (CPC H)Electricity
CPC primaryH04N2013/0081
WIPO fieldAudio-visual technology
WIPO sectorElectrical engineering

Abstract

Embodiments of the present disclosure disclose a method and an apparatus for detecting an obstacle, an electronic device, a vehicle and a storage medium. The method includes: obtaining a depth map around a vehicle; performing a terrain fitting based on the depth map to determine a terrain equation; determining a set of candidate obstacle points based on the terrain equation and the depth map; clustering candidate obstacle points in the set of candidate obstacle points to obtain at least one independent obstacle; and identifying and filtering a falsely detected obstacle from the at least one independent obstacle to obtain a depth-map-based obstacle detection result.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.