公开(公告)号：US20190256159A1

公开(公告)日：2019-08-22

申请号：US16085652

申请日：2018-02-02

Applicant: BOE TECHNOLOGY GROUP CO., LTD.

Inventor： Li ZHOU ,  Xuan HE ,  Kailiang ZHANG ,  Jingang KANG

IPC: B62D57/024 ,  B25J5/00 ,  B25J19/02 ,  E01D19/10 ,  G06T7/55 ,  G06T7/521 ,  G06T7/13

Abstract: An image processing method and system, a storage medium and a moving system are provided, and the image processing method includes: obtaining a 2D depth array Dp having depth information of a target object; calculating to obtain a depth vector D=[d1, d2, d3, . . . , dl, . . . , dn], in which an element di is an average value of elements of the ith row in the 2D depth array; calculating to obtain an edge determination vector ΔD=[Δd1, Δd2, Δd3, . . . , Δdi, . . . , Δdn−1], in which an element Δdi=|di−di+1|; calculating an average value d0=(|Δd2−Δd1|+|Δd3−Δd2|+ . . . +|Δdn−1−Δdn−2|)/(n−2); and comparing an absolute value |Δdi−Δdi+1| with d0 to identify an edge of the target object, in which in a situation where |Δdi−Δdi+1| is greater than d0, it is determined that the elements of the ith row in the 2D depth array Dp correspond to the edge of the target object.