Method and system for detecting long-distance target through binocular camera, and intelligent terminal

A method for detecting a target through a binocular camera, comprising:

• S1, acquiring a plurality of original images generated by the binocular camera at a target region, acquiring a disparity map in accordance with the plurality of original images, and converting the disparity map into a space information point cloud map;
• S2, 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;
• S3, 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
• S4, reversely mapping a maximum matching region in the heatmap to the original image, so as to acquire a target Region of Interest (ROI) for the obstacle, thereby to acquire a position of the obstacle,
• wherein S2 comprises:
• partitioning the predetermined target detection range from 100 m to 200 m into 10 sub-ranges, each having a depth of 10 m, and
• acquiring a binary image as the disparity threshold segmentation image for each sub-range.