The invention provides a vehicle driving obstacle distance detection method and system based on a vehicle-mounted depth camera, and relates to the technical field of vehicle obstacle detection. Comprising the following steps: acquiring RGB image information, depth point cloud information and 3D coordinate information of a to-be-identified obstacle during vehicle driving; geometric features of key points in the RGB image information are extracted, and obstacles in the key points are recognized; aligning and integrating the 3D coordinate information and the depth point cloud information according to a timestamp, and combining the identified obstacle to obtain a 3D coordinate with the timestamp of the obstacle; and learning spatial features of different scales of the 3D coordinates with the timestamps of the obstacle, and performing feature extraction to obtain the distance between the obstacle and the vehicle body. According to the method, the RGB image information, the depth point cloud information and the 3D coordinate information of the to-be-recognized obstacle in the running process of the vehicle are acquired by using the depth camera installed on the vehicle body, and classification and regression are performed after different feature information is extracted by using the hybrid network model, so that the effects of efficiently and accurately recognizing the obstacle and predicting the distance between the obstacle and the vehicle body can be considered.
本发明提出了基于车载深度相机的车辆行驶障碍物距离检测方法及系统,涉及车辆障碍物检测技术领域。包括以下步骤:获取车辆行驶中待识别障碍物的RGB图像信息、深度点云信息和3D坐标信息;提取RGB图像信息中关键点的几何特征,对其中的障碍物进行识别;将3D坐标信息和深度点云信息按照时间戳进行对齐并整合,并结合识别到的障碍物,得到障碍物带有时间戳的3D坐标;学习障碍物带有时间戳的3D坐标不同尺度的空间特征,并进行特征提取,得到障碍物与车身的距离。本发明利用安装在车身上的深度相机获取车辆行驶中待识别障碍物的RGB图像信息、深度点云信息和3D坐标信息,利用混合网络模型对不同特征信息提取后进行分类和回归,能够兼顾高效和精准的对障碍物识别、障碍物与车身距离预测的效果。
Vehicle driving obstacle distance detection method and system based on vehicle-mounted depth camera
基于车载深度相机的车辆行驶障碍物距离检测方法及系统
11.02.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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