PROBLEM TO BE SOLVED: To provide a method and an apparatus for detecting an obstacle based on a monocular camera.SOLUTION: The method comprises: obtaining a target frame image and its adjacent frame image which are shot with a monocular camera; deleting an unstable feature point from an initial feature point set of the adjacent frame image, for obtaining an optimal feature point set of the adjacent frame image; dividing a target feature point set into subsets for obtaining several target feature point subsets; determining whether or not the target feature point subset belongs to an obstacle, for each target feature point subset, based on change of distance of points in a corresponding ground surface projection point set, between time points of the target frame, and of the adjacent frame; and determining a sum of sets of all target feature point subsets determined to belong to the obstacle, as an obstacle point set in the target frame image. In the embodiment of the invention, detection accuracy of an obstacle point and detection efficiency of an obstacle can be improved.SELECTED DRAWING: Figure 1

    【課題】単眼カメラに基づく障害物検知方法及び装置を提供する。【解決手段】前記方法は、単眼カメラが撮影した目標フレーム画像及びその隣接フレーム画像を取得することと、隣接フレーム画像の最適な特徴点集合が得られるように、隣接フレーム画像の初期特徴点集合において、不安定な特徴点を削除することと、いくつかの目標特徴点部分集合が得られるように、目標特徴点集合に対して、部分集合の分割を行うことと、各目標特徴点部分集合に対して、その対応する地面投影点集合内における点の目標フレームの時点と隣接フレームの時点とでの距離変化値に基づいて、当該目標特徴点部分集合が障害物に属するか否かを判断することと、障害物に属すると判断される全ての目標特徴点部分集合の和集合を前記目標フレーム画像における障害物点集合として確定することとを含む。本出願の実施例において、障害物点の検知確度、及び障害物の検知効率を向上させることができる。【選択図】図1


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    Title :

    METHOD AND APPARATUS FOR DETECTING OBSTACLE BASED ON MONOCULAR CAMERA


    Additional title:

    単眼カメラに基づく障害物検知方法及び装置


    Contributors:
    YU HONGFEI (author) / LIU WEI (author) / YUAN HUAI (author)

    Publication date :

    2016-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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