The invention discloses an intelligent chassis control method and system based on binocular stereoscopic vision, and the method comprises the steps: obtaining a binocular original image of a driving region, and calculating a disparity map; delimiting a target area in the driving area based on the disparity map; detecting a ground scene of the target area based on a pre-stored deep learning model, and outputting a ground scene detection result; performing information fusion on the disparity map in the target area and the ground scene detection result to obtain image information and spatial position information of the ground scene; and based on the image information and the spatial position information, generating a control strategy output to the intelligent chassis, so that a control module of the intelligent chassis outputs a control instruction according to the control strategy. The control accuracy of the intelligent chassis is improved, and the control cost is reduced.
本发明公开了一种基于双目立体视觉的智能底盘控制方法和系统,所述方法包括:获取行驶区域的双目原始图像,并计算视差图;基于所述视差图,在所述行驶区域内划定目标区域;基于预存的深度学习模型,检测所述目标区域的地面场景,并输出地面场景检测结果;对所述目标区域内的视差图和所述地面场景检测结果进行信息融合,以得到所述地面场景的图像信息和空间位置信息;基于所述图像信息和所述空间位置信息,生成输出给所述智能底盘的控制策略,以使所述智能底盘的控制模块根据所述控制策略输出控制指令。提高了智能底盘控制准确性,降低了控制成本。
Intelligent chassis control method and system based on binocular stereoscopic vision
基于双目立体视觉的智能底盘控制方法和系统
2022-07-15
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06K Erkennen von Daten , RECOGNITION OF DATA / G06V |
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