The invention discloses a road condition detection method and system based on a binocular stereo camera and a storage medium, and the method comprises the steps of detecting a drivable region of a target vehicle, and taking all image points as basic points in the drivable region to obtain height-distance coordinates in an image polar coordinate system; screening the basic points to obtain a plurality of target points, and calculating the ground height corresponding to the depth value of each target point in a curve generated by height-distance coordinates; carrying out ground modeling based on a B-spline curve by using each target point to obtain a ground height model, and establishing an altimeter; and judging all image points on the depth map of the binocular camera according to the altimeter to obtain a clustering result of the obstacles on the ground. Therefore, the technical problem of inaccurate road condition detection structure caused by inaccurate traveling road surface modeling in the prior art is solved.

    本发明公开了一种基于双目立体相机的道路状况检测方法、系统和存储介质,该方法包括:检测目标车辆的可行驶区域,在所述可行驶区域内,以所有图像点作为基础点,得到像极坐标系中的高度‑距离坐标;对所述基础点进行筛选,以获得多个目标点,计算高度‑距离坐标所生成的曲线中,各所述目标点的深度值所对应的地面高度;利用各所述目标点进行基于B样条曲线的地面建模,得到地面高度模型,并建立高度表;在所述双目相机的深度图上依据所述高度表对所有图像点进行判断,以得到地面上障碍物的聚类结果。从而解决了现有技术中由于行驶路面建模不准确,而导致的道路状况检测结构不准确的技术问题。


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    Title :

    Road condition detection method and system based on binocular stereo camera, and intelligent terminal


    Additional title:

    基于双目立体相机的道路状况检测方法、系统和智能终端


    Contributors:
    GUO XIAOLI (author) / WANG XINLIANG (author) / SUN ZHAO (author)

    Publication date :

    2021-07-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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