The invention provides an obstacle distance measuring method, an obstacle distance measuring device and a computer storage medium. The obstacle distance measuring method comprises the following steps: acquiring a wide-angle obstacle detection frame in a wide-angle image and acquiring a narrow-angle obstacle detection frame in a narrow-angle image which are acquired at the same time; acquiring a detected obstacle track; matching the wide-angle obstacle detection frame by using the obstacle track; matching the narrow-angle obstacle detection frame by using the obstacle track and the wide-angle obstacle detection frame; fusing the successfully matched narrow-angle obstacle detection frame and/or wide-angle obstacle detection frame to an obstacle track; and acquiring the obstacle distance by using the updated obstacle track. According to the obstacle distance measurement method, the number and precision of detected obstacle targets are improved by adopting a narrow-angle and wide-angle dual-camera fusion distance measurement mode.
本申请提出一种障碍物测距方法、障碍物测距装置以及计算机存储介质。所述障碍物测距方法包括:在同时采集的广角图像中获取广角障碍物检测框,以及窄角图像中获取窄角障碍物检测框;获取已检测的障碍物航迹;利用障碍物航迹对广角障碍物检测框进行匹配;利用障碍物航迹和广角障碍物检测框对窄角障碍物检测框进行匹配;将匹配成功的窄角障碍物检测框和/或广角障碍物检测框融合到障碍物航迹;利用更新后的障碍物航迹获取障碍物距离。通过上述障碍物测距方法,采用窄角广角双相机融合测距的方式来提升检测的障碍物目标数量和精度。
Obstacle distance measuring method, obstacle distance measuring device and computer storage medium
障碍物测距方法、障碍物测距装置以及计算机存储介质
2024-04-16
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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V |
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