Method and apparatus for detecting obstacle based on monocular camera
US9521317B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 31, 2015 |
| Grant date | Dec 13, 2016 |
| Priority date | — |
| Expiry date | Mar 31, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Method and apparatus for detecting obstacle based on monocular camera are provided. The method includes: obtaining a target frame image and its adjacent frame image shot by the monocular camera; deleting an unstable feature point from an initial feature point set of the adjacent frame image to obtain a preferred feature point set; dividing a target feature point set to obtain several target feature point subsets; judging whether the target feature point subset corresponds to obstacle based on a change of a distance between points within a ground projection point set of the target feature point subset from adjacent frame time instant to target frame time instant; and determining a union of all the target feature point subsets which are judged as corresponding to obstacles as an obstacle point set of the target frame image.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.