Method and system for detecting object on a road
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United States of America Patent
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Dec 30, 2014
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app pub date -
Nov 9, 2012
filing date -
Nov 18, 2011
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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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