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Method and system for detecting object on a road

  • US 8,923,605 B2
  • Filed: 11/09/2012
  • Issued: 12/30/2014
  • Est. Priority Date: 11/18/2011
  • Status: Active Grant
First Claim
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1. A method of detecting at least one object on a road, comprising:

  • simultaneously capturing two depth maps of a current scene by adopting two depth cameras, and then calculating a disparity map of the current scene based on the two depth maps;

    obtaining, based on the disparity map, a V-disparity image of the current scene by adopting a V-disparity algorithm;

    detecting an oblique line in the V-disparity image, corresponding to the road in the disparity map, and then removing all of the points in the disparity map, corresponding to the oblique line detected in the V-disparity image, so as to acquire a sub-disparity map excluding the road;

    detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, all of the points corresponding to this the vertical line from the sub-disparity map excluding the road, to serve as an object sub-disparity map corresponding to the vertical line; and

    merging any two rectangular areas of the object sub-disparity maps, whose disparity distance is less than a distance value and whose overlap rate is greater than a threshold value, into a rectangular object area.

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