Method and system for detecting object on a road
First Claim
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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Accused Products
Abstract
Disclosed are a method and a system for detecting an object on a road. The method comprises a step of simultaneously capturing two depth maps, and then calculating a disparity map; a step of obtaining, based on the disparity map, a V-disparity image by adopting a V-disparity algorithm; a step of detecting an oblique line in the V-disparity image, and then removing points in the disparity map, corresponding to the oblique line so as to acquire a sub-disparity map excluding the road; a step of detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, points corresponding to this vertical line from the sub-disparity map as an object sub-disparity map corresponding to this vertical line; and a step of merging any two rectangular areas of the object sub-disparity maps approaching each other, into a rectangular object area.
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Citations
18 Claims
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1. A method of detecting at least one object on a road, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 11, 12, 13, 14)
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7. A system for detecting at least one object on a road, comprising:
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two depth cameras configured to simultaneously capture two depth maps of a current scene so as to calculate a disparity map of the current scene based on the two depth maps; a V-disparity map calculator configured to obtain, based on the disparity map, a V-disparity image of the current scene by adopting a V-disparity algorithm; a road extractor configured to detect an oblique line in the V-disparity image, corresponding to the road in the disparity map, and then to remove 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; an object area detector configured to detect plural vertical lines in the V-disparity image, and then to extract, for each of the plural vertical lines, all of the points corresponding to 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 an object area merging unit configured to merge 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. - View Dependent Claims (8, 9, 10, 15, 16, 17, 18)
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Specification