The invention discloses an obstacle detection method and device, electronic equipment and a computer readable storage medium, and the method is executed by a roadside, and comprises the steps: obtaining a first road image collected by a roadside camera, and determining a lane driving region in the first road image and a first obstacle segmentation result; determining an obstacle marking result of the lane driving area according to the lane driving area and the first obstacle segmentation result, wherein the obstacle marking result comprises an obstacle marking position; determining a vehicle tracking result corresponding to the obstacle marking position according to the obstacle marking result; and determining an obstacle detection result according to the obstacle marking result and the vehicle tracking result. According to the method and the device, the obstacles possibly existing in the lane driving area in the road image are firstly detected, then the obstacle marking result is further confirmed in combination with the vehicle driving condition corresponding to the obstacle position, the accuracy and the detection efficiency of obstacle detection are improved, and prior information is provided for subsequent vehicle driving planning.
本申请公开了一种障碍物检测方法、装置及电子设备、计算机可读存储介质,该方法由路侧执行,该方法包括:获取路侧相机采集的第一道路图像,并确定第一道路图像中的车道行驶区域及第一障碍物分割结果;根据车道行驶区域和第一障碍物分割结果确定车道行驶区域的障碍物标记结果,障碍物标记结果包括障碍物标记位置;根据障碍物标记结果确定障碍物标记位置对应的车辆跟踪结果;根据障碍物标记结果和车辆跟踪结果确定障碍物检测结果。本申请先对道路图像中的车道行驶区域可能存在的障碍物进行检测,然后进一步结合障碍物位置对应的车辆行驶情况对障碍物标记结果进行确认,提高了障碍物检测的准确性和检测效率,为后续车辆的行驶规划提供了先验信息。
Obstacle detection method and device, electronic equipment and computer readable storage medium
障碍物检测方法、装置及电子设备、计算机可读存储介质
2023-02-03
Patent
Electronic Resource
Chinese
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