Method and apparatus for detecting obstacle based on monocular camera
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United States of America Patent
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Dec 13, 2016
Grant Date -
Mar 31, 2016
app pub date -
Mar 31, 2015
filing date -
Sep 26, 2014
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Abstract
Method and apparatus for detecting obstacle based on monocular camera are provided. The method includes: obtaining a target frame image and its adjacent frame image shot by the monocular camera; deleting an unstable feature point from an initial feature point set of the adjacent frame image to obtain a preferred feature point set; dividing a target feature point set to obtain several target feature point subsets; judging whether the target feature point subset corresponds to obstacle based on a change of a distance between points within a ground projection point set of the target feature point subset from adjacent frame time instant to target frame time instant; and determining a union of all the target feature point subsets which are judged as corresponding to obstacles as an obstacle point set of the target frame image.
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