公开(公告)号：US20220277470A1

公开(公告)日：2022-09-01

申请号：US17643289

申请日：2021-12-08

申请人： Beijing Smarter Eye Technology Co. Ltd.

发明人： Zhipeng XIAO ,  Xinliang WANG ,  Feng CUI ,  Haifeng LAI

IPC分类号： G06T7/70 ,  G06T7/10 ,  G06V10/25 ,  G06T7/60

摘要： A method and a system for detecting a long-distance target through a binocular camera, and an intelligent terminal are provided. The method includes the steps of: acquiring original images generated by the binocular camera at a target region, acquiring a disparity map in accordance with the original images, and converting the disparity map into a space information point cloud map; partitioning a predetermined target detection range into a plurality of sub-ranges in accordance with the space information point cloud map, and acquiring a disparity threshold segmentation image for each sub-range; calculating an integral image in accordance with each disparity threshold segmentation image, and acquiring a heatmap of an obstacle in accordance with the integral images; and reversely mapping a maximum matching region in the heatmap to the original image, so as to acquire a target ROI for the obstacle, thereby to acquire a position of the obstacle.

公开(公告)号：US20200304774A1

公开(公告)日：2020-09-24

申请号：US16585748

申请日：2019-09-27

申请人： Beijing Smarter Eye Technology Co. Ltd.

发明人： Ran MENG ,  Zhipeng XIAO ,  Hua CHAI ,  Haifeng LAI ,  Zhe WANG ,  Jixia DU ,  Zunying PANG

IPC分类号： H04N13/271 ,  G06T7/80 ,  G05D1/00 ,  G05D1/02 ,  G06T7/593 ,  G06K9/00 ,  G06T7/70

摘要： The present disclosure provides a method and a device for detecting a height-limiting rod, and an automatic driving system, for use in a binocular stereo camera. The method includes: filtering out invalid points in a disparity map corresponding to a target image in accordance with a predetermined detection range, so as to acquire a valid point disparity map; projecting the valid point disparity map along an X-axis direction in a three-dimensional coordinate system onto a plane where a Y axis and a Z axis are located, and counting the quantity of valid points for each row of pixels with respect to each disparity value, so as to acquire a projection image; filtering out invalid projection points and invalid blobs in the projection image, so as to acquire a valid blob image; and back-projecting the valid blob image to the three-dimensional coordinate system, and determining a rectangular region where the height-limiting rod is located in accordance with X-axis, Y-axis and Z-axis coordinate values.