The invention provides a road drivable area identification method based on binocular vision. The method comprises the following steps: collecting left and right images of a road through a binocular camera; performing feature extraction and matching on the left and right images based on a space attention mechanism to obtain an attention matrix and image features, and generating a disparity map according to the attention matrix and the image features; performing first coordinate conversion on each pixel point in the disparity map to obtain a corresponding depth map, and performing second coordinate conversion on each pixel point in the depth map to obtain a corresponding height map; and recognizing a drivable area of the road according to the height map. The technical scheme of the application is not only suitable for pavement information perception of a paved pavement, but also suitable for pavement information perception of a non-paved pavement, and the perception result is a drivable area in front of the road, so that an automatic driving decision module can make a decision directly based on the drivable area.

    本申请提出了一种基于双目视觉的道路可行驶区域识别方法,该方法可以包括:通过双目相机采集道路的左右图像;基于空间注意力机制对所述左右图像进行特征提取与匹配,得到注意力矩阵和图像特征,并根据所述注意力矩阵和所述图像特征生成视差图;将所述视差图中各个像素点进行第一次坐标转换,得到相应的深度图,以及将所述深度图中各个像素点进行第二次坐标转换,得到相应的高度图;根据所述高度图识别出所述道路的可行驶区域。本申请的技术方案不仅适用于铺装路面的路面信息感知,同时适用于非铺装路面的路面信息感知,且感知结果是道路前方的可行驶区域,可以便于自动驾驶决策模块直接基于可行驶区域做出决策。


    Access

    Download


    Export, share and cite



    Title :

    Binocular vision-based road travelable area identification method and device


    Additional title:

    一种基于双目视觉的道路可行驶区域识别方法及装置


    Contributors:

    Publication date :

    2022-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    ROAD TRAVELABLE SPEED ESTIMATION DEVICE AND ROAD TRAVELABLE SPEED ESTIMATION PROGRAM

    MATSUBARA TAKESHI / SAKA TAKUMI | European Patent Office | 2021

    Free access

    TRAVELABLE REGION SETTING DEVICE AND SETTING METHOD OF TRAVELABLE REGION

    SUDO SHUICHI / KONISHI HITOSHI / KATOU DAICHI et al. | European Patent Office | 2018

    Free access

    DETECTION METHOD AND DETECTION DEVICE OF TRAVELABLE AREA OF ROAD SURFACE

    GANMEI YOU / YAOJIE LU / SHI ZHONGCHAO et al. | European Patent Office | 2018

    Free access

    TRAVELABLE DIRECTION DETECTOR AND TRAVELABLE DIRECTION DETECTION METHOD

    HIRANO KOTA / HASHIMOTO DAISUKE / TAKEYASU SATOSHI | European Patent Office | 2020

    Free access

    Road travelable area generation method and device, vehicle and storage medium

    LI MINGZE | European Patent Office | 2024

    Free access