The invention discloses an obstacle early warning method and device for reversing assistance, a medium and equipment, and the method comprises the steps: constructing and obtaining a plurality of target reversing assistance lines based on a historical reversing image containing a target reference object, and determining the target position of each target reversing assistance line in the historical reversing image; performing obstacle recognition on the current reversing image shot in real time, and determining a plurality of obstacle objects; acquiring the current position of each obstacle object in the current reversing image; and performing early warning detection on each obstacle object based on the target position of each target reversing auxiliary line and each current position so as to perform obstacle early warning based on a detection result. According to the invention, the method achieves the early warning of the obstacle through the reversing image, just needs one monocular camera to shoot and obtain the reversing image, can achieve the early warning detection of the obstacle, does not need other detection devices, reduces the use of detection devices, and reduces the early warning cost of the obstacle.
本申请公开了一种用于倒车辅助的障碍物预警方法、装置、介质及设备,其中,方法包括:基于包含目标参照对象的历史倒车图像,构建获得若干目标倒车辅助线,并确定各目标倒车辅助线位于历史倒车图像中的目标位置;对实时拍摄的当前倒车图像进行障碍物识别,确定若干障碍物对象;获取各障碍物对象位于当前倒车图像中的当前位置;基于各所述目标倒车辅助线的目标位置以及各所述当前位置,对各所述障碍物对象进行预警检测,以基于检测结果进行障碍物预警。本申请实现了通过利用倒车图像的来进行障碍物预警,即只需一个单目相机拍摄获得倒车图像,即可实现对障碍物的预警检测,不需要其他检测器件,减少了检测器件的使用,降低了障碍物预警成本。
Obstacle early warning method, device, medium and equipment for reversing assistance
一种用于倒车辅助的障碍物预警方法、装置、介质及设备
07.11.2023
Patent
Elektronische Ressource
Chinesisch
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