Method and apparatus for detecting obstacle

An electronic device, comprising:

• at least one processor;
• and
• a memory, communicatively connected to the at least one processor and storing instructions executable by the at least one processor to perform an operation for detecting an obstacle, the operation comprising:
• acquiring a current image acquired by a camera;
• inputting the current image into a pre-trained detection model to obtain a position of a detection frame of the obstacle and determine a first pixel coordinate of a grounding point in the current image, the grounding point being a point on the detection frame belonging to the detected obstacle;
• calculating a rotation coefficient and a scaling coefficient of the current image to a template image, the template image being an image used when performing external parameter calibration on the camera;
• rotating and scaling the current image based on the rotation coefficient and the scaling coefficient;
• performing Fourier transform on the rotated and scaled current image, and acquiring a Fourier transform result of the template image;
• obtaining a normalized cross power spectrum matrix for a Fourier transform result of the current image and the Fourier transform result of the template image;
• performing inverse Fourier transform on the power spectrum matrix to obtain a first matrix;
• finding a point having maximum energy in the first matrix, and calculating an offset of the point based on feature information of points, lines, and edges in the current image;
• converting the first pixel coordinate into a world coordinate of the grounding point based on the offset;
• and
• outputting the world coordinate of the grounding point as a position of the obstacle in a world coordinate system.

A non-transitory computer readable storage medium, storing computer instructions executable by a computer to perform an operation for detecting an obstacle, the operation comprising:

• acquiring a current image acquired by a camera;
• inputting the current image into a pre-trained detection model to obtain a position of a detection frame of the obstacle and determine a first pixel coordinate of a grounding point in the current image, the grounding point being a point on the detection frame belonging to the detected obstacle;
• calculating a rotation coefficient and a scaling coefficient of the current image to a template image, the template image being an image used when performing external parameter calibration on the camera;
• rotating and scaling the current image based on the rotation coefficient and the scaling coefficient;
• performing Fourier transform on the rotated and scaled current image, and acquiring a Fourier transform result of the template image;
• obtaining a normalized cross power spectrum matrix for a Fourier transform result of the current image and the Fourier transform result of the template image;
• performing inverse Fourier transform on the power spectrum matrix to obtain a first matrix;
• finding a point having maximum energy in the first matrix, and calculating an offset of the point based on feature information of points, lines, and edges in the current image;
• converting the first pixel coordinate into a world coordinate of the grounding point based on the offset;
• and
• outputting the world coordinate of the grounding point as a position of the obstacle in a world coordinate system.