Real-time ground fusion method and system based on binocular stereo vision, and intelligent terminal

US12229979B2 · kind B2 · utility

Assignees

• Beijing Smarter Eye Technology Co. Ltd · CN
• Shenzhen Pengcheng Electric Group Co., Ltd · CN
• Shenzhen Talent Database Data Technology Co., Ltd · CN

Inventors

• Ruibin Lin · Shanghai, CN
• Hua Chai · Beijing, CN
• Zhipeng Xiao · Beijing, CN
• Jun-De Liao · Beijing, CN
• Bin Chen · Schaumburg, US
• Jian Li · San Jose, US
• Ran Meng · Beijing, CN
• Ya-Chi Liu
• Huosheng Xu · Longbeilingcun, CN

Key dates

• Filing date: Apr 12, 2022
• Grant date: Feb 18, 2025
• Expiry date: Jun 1, 2043

Classification

• Technology area (CPC H): Electricity
• CPC primary: H04N2013/0081
• WIPO field: Audio-visual technology
• WIPO sector: Electrical engineering

Abstract

A real-time ground fusion system is based on binocular stereo vision and an intelligent terminal. The method for accomplish real-time ground fusion includes: S1 of obtaining a disparity map about a same road scenario, and converting a disparity map in a target region into a 3D point cloud; S2 of performing pose conversion on a current frame and a next frame adjacent to the current frame, and performing inverse conversion on a 3D point cloud of the current frame; and S3 of repeating S2 with each frame in the target region as the current frame, so as to achieve ground fusion. Through the conversion and fusion of adjacent frames, holes caused by the projection of the disparity map can be filled to assist driving and output accurate height data, thereby improving comfortableness.