CN104859562A - Method and device for detecting barriers behind vehicle - Google Patents
Method and device for detecting barriers behind vehicle Download PDFInfo
- Publication number
- CN104859562A CN104859562A CN201510278900.7A CN201510278900A CN104859562A CN 104859562 A CN104859562 A CN 104859562A CN 201510278900 A CN201510278900 A CN 201510278900A CN 104859562 A CN104859562 A CN 104859562A
- Authority
- CN
- China
- Prior art keywords
- image
- vehicle
- range information
- sample line
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a method and device for detecting barriers behind a vehicle. The method comprises the following steps: extracting a second image formed by sampling lines output by a bar-shaped laser from a first image captured by a camcorder lens; according to the coordinates of pixel points of the sampling lines in the second image, determining the range information of the barriers and the vehicle; transmitting the range information to terminal equipment, so that the terminal equipment shows or broadcasts the range information. Through the adoption of the method and device for detecting the barriers behind a vehicle, provided by the embodiment of the invention, when the barriers exist behind the vehicle, the sample lines output by the bar-shaped laser can be extracted from the image captured by the camcorder lens, and according to the coordinates of the pixel points of the sampling lines, the range information of the barriers and the vehicle is determined; generally, the method and device, disclosed by the embodiment of the invention, can accurately distinguish the barriers behind the vehicle, and can also determine the range information of the vehicle and the barriers, so that safety guarantee is provided for vehicle driving.
Description
Technical field
The present invention relates to road conditions detection technique field, particularly relating to a kind of method for detecting vehicle rear obstacle and device.
Background technology
Along with the development of science and technology, vehicle security drive and operation readiness have become the mainstream development trend of auto-industry.As everyone knows, for chaufeur, there is a lot of blind area on the run, these blind areas become the biggest obstacle that chaufeur obtains accurate information of road surface undoubtedly.With regard to blind area after automobile, chaufeur, in reversing process, if can not the obstacle information at Obtaining Accurate car rear, may collide with the obstacle at automobile rear, causes damage car vehicle body and affect chaufeur personal safety.
Summary of the invention
Embodiments of the invention provide a kind of method for detecting vehicle rear obstacle and device, accurately can detect the range information of vehicle rear obstacle, for vehicle drives to provide safety control.
For achieving the above object, embodiments of the invention adopt following technical scheme:
For detecting a method for vehicle rear obstacle, comprising:
From camera collection to the first image extract stripe laser export sample line formed the second image;
According to the coordinate of the pixel of sample line in described second image, determine the range information of obstacle and vehicle;
Described range information is sent to final terminal, shows to make final terminal or report described range information.
For detecting a device for vehicle rear obstacle, comprising:
Image extraction unit, for from camera collection to the first image in extract stripe laser export sample line formed the second image;
Distance determining unit, for the coordinate according to the pixel of sample line in described second image, determines the range information of obstacle and vehicle;
Information transmitting unit, for described range information is sent to final terminal, shows to make final terminal or reports described range information.
A kind of method for detecting vehicle rear obstacle that the embodiment of the present invention provides and device, when vehicle back has obstacle, can from camera collection to image extract stripe laser export sample line, and the coordinate of pixel according to these sample line, determine the range information of obstacle and vehicle, in general, the embodiment of the present invention can identify the obstacle of rear view of vehicle more exactly, and the range information of vehicle and obstacle can also be determined, for vehicular drive provides safety control.
Accompanying drawing explanation
The diagram of circuit of a kind of method for detecting vehicle rear obstacle that Fig. 1 provides for exemplary embodiment of the present;
The structured flowchart of a kind of device for detecting vehicle rear obstacle that Fig. 2 provides for exemplary embodiment of the present;
The structured flowchart of a kind of system for detecting vehicle rear obstacle that Fig. 3 provides for exemplary embodiment of the present;
The position relationship schematic diagram of a kind of camera that Fig. 4 provides for exemplary embodiment of the present and stripe laser;
The application scenarios schematic diagram that Fig. 5 provides for exemplary embodiment of the present;
The Another Application scene schematic diagram that Fig. 6 provides for exemplary embodiment of the present;
The Another Application scene schematic diagram that Fig. 7 provides for exemplary embodiment of the present.
Detailed description of the invention
On the run, range of visibility and the sight angle of chaufeur are limited, cause the obstacle being difficult to find rear view of vehicle, thus easily safety misadventure occur.The invention provides a kind of method for detecting vehicle back obstacle, device and system, the bar shaped laser exported by stripe laser forms a detected image, when rear view of vehicle has obstacle, detected image can be imaged on blocking surfaces, camera can collect the scene image of rear view of vehicle, this scene image comprises this detected image, and by this image transmitting to image processing apparatus (such as, micro controller system), detected image is extracted by image procossing to make this image processing apparatus, and pass through laser triangulation, calculate the range information between obstacle and vehicle, and this range information is sent to the final terminal be arranged in vehicle, such as, telltale, to make this final terminal, range information is showed chaufeur, chaufeur can also be informed by voice broadcast etc., thus make chaufeur obtain obstacle information accurately.
Below in conjunction with accompanying drawing, a kind of methods, devices and systems for detecting vehicle rear obstacle of the embodiment of the present invention are described in detail.
The diagram of circuit of a kind of method for detecting vehicle rear obstacle that Fig. 1 provides for exemplary embodiment of the present.As shown in Figure 1, a kind of user detects the method for vehicle rear obstacle, and the method comprises:
Step S110, from camera collection to the first image extract stripe laser export sample line formed the second image.
In the embodiment of the present invention, first image is the scene image of the rear view of vehicle in the field range of camera, second image is the sample line that stripe laser exports, i.e. bar shaped laser lines, the detected image formed, this detected image includes but not limited to laser lines, cross structure laser lines or latticed laser lines, when rear view of vehicle has obstacle, second image can be imaged on the surface of obstacle, then the first Neighbourhood will comprise the second image.
According to a preferred embodiment of the invention, as shown in Figure 4, the bottom of camera and stripe laser is fixed on vehicle body, according to laser triangulation principle, the line of centers of camera and the line of centers of stripe laser need form an acute angle A, specifically, second image is formed by the sample line being arranged on the horizontal and vertical multiple stripe lasers outputs of camera, and camera is all partial in the head position direction of each stripe laser, it should be noted that, the position relationship of stripe laser and camera is only illustrated in Fig. 4, the number of stripes not match shape laser, the size of acute angle A, the distance of stripe laser and camera is formed and limits.The first image collected can be sent to image processing apparatus by camera, such as, micro controller system or central processing element etc., this image processing apparatus extracts the second image by institute first image, particularly, from the first image, extract the second image can comprise: extract consistent with the preset color of stripe laser from the second image, and length is greater than or equal to the first presetted pixel value, and its width is greater than the sample line that zero pixel is less than or equal to the second presetted pixel value.
For example, the preset color of stripe laser is red, its rgb value is respectively R=200, G=30, B=30, when extracting the first image from the second image, first need to extract the image meeting this rgb value, secondly, what stripe laser exported is laser lines, and in the image of this extraction, not only can comprise lines, also may there is more noise spot, noise hot spot, will from containing much noise point, actv. laser lines are identified in the image of noise hot spot, can by limiting the length of image and width, limit its length as above-mentioned and be greater than or equal to the first presetted pixel value, its width is greater than zero pixel and is less than or equal to the second presetted pixel value, such as, first presetted pixel value=30 pixel, second presetted pixel value=10 pixel, in the image of then said extracted, length meets and is greater than or equal to 30 pixel values, it is actv. laser lines that width is greater than the image that zero pixel values is less than or equal to 10 pixel values, be second image (or detected image) of the sample line formation that stripe laser exports.
Step S120, according to the coordinate of the pixel of sample line in the second image, determines the range information of obstacle and vehicle.
In this step, can comprise further: with the coordinate of the pixel of described sample line, be calculated the distance of each pixel and described vehicle in described sample line by laser triangulation; Minimum distance is defined as the range information of described obstacle and vehicle.
Referring to following example, as shown in Figure 5, comprise camera and stripe laser, can also obstacle plane and be arranged on the Nonlinear magnify lens of camera front end, wherein the focal length of Nonlinear magnify lens is f, centre distance between camera and Nonlinear magnify lens is M, the distance at migration imagery its center of sample line on camera that stripe laser exports is m, the centerlines of camera and stripe laser is A, the angle of camera line of centers and Nonlinear magnify lens is a, and a=90 °-A, calculative distance is the distance L between Nonlinear magnify lens and obstacle, range information L can be calculated by following equation:
L=M/ (cot a+m/f)=M/ (cot (90 ° of-A)+m/f)=M/ (tan (A)+m/f) ... formula (1)
Below by embodiment as shown in Figure 6 and Figure 7, further casehistory.
The application scenarios schematic diagram that Fig. 6 provides for exemplary embodiment of the present, the Another Application scene schematic diagram that Fig. 7 provides for exemplary embodiment of the present.
As shown in Figure 6, for a sample line, when obstacle appears in rear view of vehicle, and sample line is not when being out of shape, suppose that the second image is Y1 × Z1 (can be grow for Y1, wide be Z1) in the photosurface imaging size of camera 310, the abscissa of sample line B shown in Fig. 6 is x, then m=x-(Y1/2), then convolution (1) can calculate distance L.Similarly, as shown in Figure 7, the situation of the transverse deformation of this sample line is caused for rear view of vehicle obstacle, the pixel abscissa that deformation position occurs sample line B1 is x1 to the maximum, and the abscissa that deformation place does not occur is x2, according to m=x-(Y/2), the m1 value that can obtain x1 corresponding is larger, the m2 that x2 is corresponding is less, and the L1 value calculated based on m1 and formula (1) is comparatively large, then using L1 as a distance.
It should be noted that, according to the preferred embodiment of the present invention, for the cylinder obstacle vertically placed, such as, cylindrical obstacle or square body obstacle, the sample line exported due to the stripe laser being arranged on camera longitudinal direction is imaged on this kind of obstacle, deformation can not be there is, thus the range information of this obstacle and vehicle body cannot be detected exactly, therefore, the sample line that can be exported by the stripe laser being arranged on camera transverse direction is detected; In like manner, for the obstacle laterally placed, such as, the cylinder obstacle laterally placed, the sample line that the stripe laser being arranged on camera transverse direction exports is imaged on this kind of obstacle, also deformation can not be there is, so the sample line that can be exported by the stripe laser being arranged on camera longitudinal direction is detected; And complicated and do not have well-regulated obstacle, then the sample line that can export in conjunction with horizontal and vertical stripe laser for shape matching, this obstacle is detected, thus obtains range information more accurately.
In sum, if be many horizontal and vertical sample line, identical with process with the method for calculating of an above-mentioned sample line, this is no longer going to repeat them, based on many sample line and after through type (1) calculates multiple distance, can more multiple distance be passed through, select minimum distance as the range information of obstacle and vehicle.Step S130, is sent to final terminal by range information, shows to make final terminal or reports described range information.
In this step, the range information calculated in the step s 120 can be sent to final terminal, such as, telltale in vehicle, to show this range information on the terminal device, such as, can by the change of the mode range of a signal information of progress bar, or by the mode range of a signal information of numerical monitor, this range information can also be reported to chaufeur by the mode of voice broadcast, in addition, in embodiments of the present invention, first image (or scene image of rear view of vehicle) also can also be sent to final terminal, this the first image is shown to make final terminal, thus make chaufeur clearly view the information of rear view of vehicle.
According to an alternate embodiment of the present invention, described method can also comprise: when described range information is less than preset security distance, sends energizing signal, send alerting signal to make described annunciator to annunciator.Such as, suppose that preset security distance is for 0.1m, when the range information calculated in the step s 120 is less than 0.1m, just send energizing signal and report to the police with triggered alarm, prompting chaufeur can not continue reversing again.
By a kind of method for detecting vehicle rear obstacle provided by the invention, when vehicle back has obstacle, can from camera collection to image extract stripe laser export sample line, and the coordinate of pixel according to these sample line, determine the range information of obstacle and vehicle, in general, the embodiment of the present invention can identify the obstacle of rear view of vehicle more exactly, and the range information of vehicle and obstacle can also be determined, for vehicular drive provides safety control.
The structured flowchart of a kind of device for detecting vehicle rear obstacle that Fig. 2 provides for exemplary embodiment of the present.As shown in Figure 2, a kind of device 200 for detecting vehicle rear obstacle, this device 200 comprises: image extraction unit 210, distance determining unit 220 and information transmitting unit 230.
Image extraction unit 210 for from camera collection to the first image in extract stripe laser export sample line formed the second image.
Preferably, image extraction unit 210 is further used for extracting from described second image consistent with the preset color of described stripe laser, and length is greater than or equal to the first presetted pixel value, width is greater than the sample line that zero pixel is less than or equal to the second presetted pixel value.
Preferably, described second image is formed by the sample line being arranged on the horizontal and vertical multiple stripe lasers outputs of described camera, and described camera is partial in the head position direction of described two stripe lasers.
Distance determining unit 220, for the coordinate according to the pixel of sample line in described second image, determines the range information of obstacle and vehicle.
Preferably, distance determining unit 220 can also comprise distance computation subunit 221 and distance determining unit 222, wherein, distance computation subunit 221 is for the coordinate of the pixel of described sample line, calculated the distance of each pixel and described vehicle in described sample line by laser triangulation, distance determines that subelement 222 is for being defined as the range information of described obstacle and vehicle by minimum distance.
Information transmitting unit 230, for described range information is sent to final terminal, shows to make final terminal or reports described range information.
According to an alternate embodiment of the present invention, described device can also comprise trigger element, for when described range information is less than preset security distance, sends energizing signal, send alerting signal to make described annunciator to annunciator.
In said apparatus, the implementation procedure of the function and efficacy of unit specifically refers to the implementation procedure of corresponding step in said method, does not repeat them here.
The structured flowchart of a kind of system for detecting vehicle rear obstacle that Fig. 3 provides for exemplary embodiment of the present.As shown in Figure 3, a kind of system 300 for detecting vehicle rear obstacle, this system comprises: camera 310, stripe laser 320, final terminal 330 and a kind of device 200 for detecting vehicle rear obstacle as shown in Figure 2.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (10)
1. for detecting a method for vehicle rear obstacle, it is characterized in that, described method comprises:
From camera collection to the first image extract stripe laser export sample line formed the second image;
According to the coordinate of the pixel of sample line in described second image, determine the range information of obstacle and vehicle;
Described range information is sent to final terminal, shows to make final terminal or report described range information.
2. method according to claim 1, is characterized in that, described from camera collection to the first image extract stripe laser export sample line formed the second image comprise:
Extract consistent with the preset color of described stripe laser from described second image, and length is greater than or equal to the first presetted pixel value, and its width is greater than the sample line that zero pixel is less than or equal to the second presetted pixel value.
3. method according to claim 1, it is characterized in that, described second image is formed by the sample line being arranged on the horizontal and vertical multiple stripe lasers outputs of described camera, and described camera is partial in the head position direction of each described stripe laser.
4. method according to claim 1, is characterized in that, the described coordinate according to the pixel of sample line in described second image, determines that the range information of obstacle and vehicle comprises:
With the coordinate of the pixel of described sample line, calculated the distance of each pixel and described vehicle in described sample line by laser triangulation;
Minimum distance is defined as the range information of described obstacle and vehicle.
5. method according to claim 1, is characterized in that, described method also comprises:
When described range information is less than preset security distance, sends energizing signal to annunciator, send alerting signal to make described annunciator.
6. for detecting a device for vehicle rear obstacle, it is characterized in that, described device comprises:
Image extraction unit, for from camera collection to the first image in extract stripe laser export sample line formed the second image;
Distance determining unit, for the coordinate according to the pixel of sample line in described second image, determines the range information of obstacle and vehicle;
Information transmitting unit, for described range information is sent to final terminal, shows to make final terminal or reports described range information.
7. device according to claim 6, it is characterized in that, described image extraction unit is further used for extracting from described second image consistent with the preset color of described stripe laser, and length is greater than or equal to the first presetted pixel value, width is greater than the sample line that zero pixel is less than or equal to the second presetted pixel value.
8. device according to claim 6, it is characterized in that, described second image is formed by the sample line being arranged on the horizontal and vertical multiple stripe lasers outputs of described camera, and described camera is partial in the head position direction of described two stripe lasers.
9. device according to claim 8, is characterized in that, described distance determining unit comprises:
Distance computation subunit, for the coordinate of the pixel of described sample line, calculates the distance of each pixel and described vehicle in described sample line by laser triangulation;
Distance determines subelement, for minimum distance being defined as the range information of described obstacle and vehicle.
10. device according to claim 6, is characterized in that, described device also comprises:
Trigger element, for when described range information is less than preset security distance, sends energizing signal to annunciator, sends alerting signal to make described annunciator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510278900.7A CN104859562A (en) | 2015-05-27 | 2015-05-27 | Method and device for detecting barriers behind vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510278900.7A CN104859562A (en) | 2015-05-27 | 2015-05-27 | Method and device for detecting barriers behind vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104859562A true CN104859562A (en) | 2015-08-26 |
Family
ID=53905885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510278900.7A Pending CN104859562A (en) | 2015-05-27 | 2015-05-27 | Method and device for detecting barriers behind vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104859562A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143167A (en) * | 2017-06-28 | 2019-01-04 | 杭州海康机器人技术有限公司 | A kind of complaint message acquisition device and method |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1810188A1 (en) * | 1967-11-24 | 1969-08-14 | Ct Nat De Rech S Metallurg A S | Method for determining distance by optical means |
| JPS62222117A (en) * | 1986-03-25 | 1987-09-30 | Mitsubishi Heavy Ind Ltd | Multipoint distance measuring sensor |
| SE8801704L (en) * | 1988-05-05 | 1989-11-06 | Limab Laser Instrumentmek | DEVICE FOR MEASURING DEVICES USING LASER RADIATIONS |
| US4963017A (en) * | 1989-05-01 | 1990-10-16 | General Electric Company | Variable depth range camera |
| JPH07329636A (en) * | 1994-06-09 | 1995-12-19 | Yazaki Corp | Monitor around vehicle |
| JP2000184368A (en) * | 1998-12-14 | 2000-06-30 | Matsushita Electric Ind Co Ltd | On-vehicle camera system displaying sensor signal superimposed on video signal |
| KR20050036179A (en) * | 2003-10-15 | 2005-04-20 | 현대자동차주식회사 | A forward area monitoring device of vehicle and method thereof |
| CN101290221A (en) * | 2007-01-16 | 2008-10-22 | 交通部公路科学研究所 | Pulse type line laser road sectional rut tester |
| CN102175211A (en) * | 2010-12-24 | 2011-09-07 | 北京控制工程研究所 | Barrier position determining method based on lattice structured light |
| CN202793374U (en) * | 2012-10-08 | 2013-03-13 | 刘学文 | Distance meter through laser triangulation |
| CN203946026U (en) * | 2013-12-11 | 2014-11-19 | 魏子安 | A kind of road barricade means of identification |
| CN104236521A (en) * | 2013-06-14 | 2014-12-24 | 科沃斯机器人科技(苏州)有限公司 | Line-laser ranging method applied to auto-moving robots |
| CN104354644A (en) * | 2014-08-26 | 2015-02-18 | 孟世民 | Reverse monitoring device and vehicle employing same |
-
2015
- 2015-05-27 CN CN201510278900.7A patent/CN104859562A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1810188A1 (en) * | 1967-11-24 | 1969-08-14 | Ct Nat De Rech S Metallurg A S | Method for determining distance by optical means |
| JPS62222117A (en) * | 1986-03-25 | 1987-09-30 | Mitsubishi Heavy Ind Ltd | Multipoint distance measuring sensor |
| SE8801704L (en) * | 1988-05-05 | 1989-11-06 | Limab Laser Instrumentmek | DEVICE FOR MEASURING DEVICES USING LASER RADIATIONS |
| US4963017A (en) * | 1989-05-01 | 1990-10-16 | General Electric Company | Variable depth range camera |
| JPH07329636A (en) * | 1994-06-09 | 1995-12-19 | Yazaki Corp | Monitor around vehicle |
| JP2000184368A (en) * | 1998-12-14 | 2000-06-30 | Matsushita Electric Ind Co Ltd | On-vehicle camera system displaying sensor signal superimposed on video signal |
| KR20050036179A (en) * | 2003-10-15 | 2005-04-20 | 현대자동차주식회사 | A forward area monitoring device of vehicle and method thereof |
| CN101290221A (en) * | 2007-01-16 | 2008-10-22 | 交通部公路科学研究所 | Pulse type line laser road sectional rut tester |
| CN102175211A (en) * | 2010-12-24 | 2011-09-07 | 北京控制工程研究所 | Barrier position determining method based on lattice structured light |
| CN202793374U (en) * | 2012-10-08 | 2013-03-13 | 刘学文 | Distance meter through laser triangulation |
| CN104236521A (en) * | 2013-06-14 | 2014-12-24 | 科沃斯机器人科技(苏州)有限公司 | Line-laser ranging method applied to auto-moving robots |
| CN203946026U (en) * | 2013-12-11 | 2014-11-19 | 魏子安 | A kind of road barricade means of identification |
| CN104354644A (en) * | 2014-08-26 | 2015-02-18 | 孟世民 | Reverse monitoring device and vehicle employing same |
Non-Patent Citations (1)
| Title |
|---|
| 程德: "蛇形臂机器人视觉定位导航技术研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143167A (en) * | 2017-06-28 | 2019-01-04 | 杭州海康机器人技术有限公司 | A kind of complaint message acquisition device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108243623B (en) | Automobile anti-collision early warning method and system based on binocular stereo vision | |
| CN108351207B (en) | Three-dimensional camera device | |
| KR101083885B1 (en) | Intelligent driving assistant systems | |
| EP2476996B1 (en) | Parallax calculation method and parallax calculation device | |
| JP4556798B2 (en) | Image processing device | |
| CN110069990B (en) | Height limiting rod detection method and device and automatic driving system | |
| CN108028023A (en) | Information processor, information processing method and program | |
| KR101439052B1 (en) | Apparatus and method for detecting obstacle | |
| US8605949B2 (en) | Vehicle-based imaging system function diagnosis and validation | |
| CN102542843A (en) | Early warning method for preventing vehicle collision and device | |
| KR100929689B1 (en) | Traffic accident record apparatus using stereo image information and controlling method for the same | |
| KR101739394B1 (en) | Apparatus for estimating distance to object using stereo camera with heterogeneous angle of view and method thereof | |
| KR20140076415A (en) | Apparatus and method for providing information of blind spot | |
| CN103186771A (en) | Method of detecting an obstacle and driver assist system | |
| Kim et al. | System and method for detecting potholes based on video data | |
| KR101406316B1 (en) | Apparatus and method for detecting lane | |
| CN107766847B (en) | Lane line detection method and device | |
| JP4123138B2 (en) | Vehicle detection method and vehicle detection device | |
| US7885430B2 (en) | Automotive environment monitoring device, vehicle with the automotive environment monitoring device, and automotive environment monitoring program | |
| CN104517099A (en) | Filtering device and environment recognition system | |
| CN108111802B (en) | Video monitoring method and device | |
| CN104859562A (en) | Method and device for detecting barriers behind vehicle | |
| JP2001082954A (en) | Image processing device and image processing distance- measuring method | |
| KR100976142B1 (en) | detection method of road vehicles | |
| KR101452628B1 (en) | Method for detecting critical area for pedestrian protection system and apparatus therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150826 |
|
| RJ01 | Rejection of invention patent application after publication |