Road obstacle detection method and apparatus, and device and storage medium
AssigneesSensetime Group Limited, Honda Motor Co., Ltd.
InventorGuangliang Cheng
Life of this patent
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Abstract
A method for detecting an anomalous object on a road is provided. In the method, an image of the road is acquired; a travelable region and an ideal travelable region in the image of the road are determined based on the image of the road; and an anomalous object region on the road is determined based on the travelable region and the ideal travelable region. An apparatus for detecting an anomalous object on a road and a storage medium are also provided.
Claims11
A method for detecting an anomalous object on a road, performed by an electronic device, the method comprising:
- acquiring an image of the road;
- determining a travelable region in the image of the road based on the image of the road;
- determining an ideal travelable region in the image of the road based on contours of the travelable region by:
- determining at least one contour of the travelable region;
- selecting, from the at least one contour, a target contour whose surrounded region has a largest area;
- and
- determining a region surrounded by the target contour as the ideal travelable region;
- determining an anomalous object region on the road based on the travelable region and the ideal travelable region by:
- electronically comparing the ideal travelable region with the travelable region to identify a non-overlapping region that exists in the ideal travelable region but is absent from the travelable region;
- and
- setting the non-overlapping region as the anomalous object region;
- determining a traveling path of a vehicle based on the anomalous object region;
- and
- generating a control signal for controlling navigation of the vehicle based on the traveling path.
An apparatus for detecting an anomalous object on a road, the apparatus comprising:
- a processor;
- and
- a memory configured to store instructions executable by the processor, wherein the processor is configured to:
- acquire an image of the road;
- determine a travelable region in the image of the road based on the image of the road;
- determine an ideal travelable region in the image of the road based on contours of the travelable region by:
- determining at least one contour of the travelable region;
- selecting, from the at least one contour, a target contour whose surrounded region has a largest area;
- and
- determining a region surrounded by the target contour as the ideal travelable region;
- determine an anomalous object region on the road based on the travelable region and the ideal travelable region by electronically comparing the ideal travelable region with the travelable region to identify a non-overlapping region that exists in the ideal travelable region but is absent from the travelable region, and setting the non-overlapping region as the anomalous object region;
- determine a traveling path of a vehicle based on the anomalous object region;
- and
- generate a control signal for controlling navigation of the vehicle based on the traveling path.
A non-transitory computer storage medium having stored thereon computer-executed instructions that, when executed by a computer, cause the computer to implement the following:
- acquiring an image of a road;
- determining a travelable region in the image of the road based on the image of the road;
- determining an ideal travelable region in the image of the road based on contours of the travelable region by:
- determining at least one contour of the travelable region;
- selecting, from the at least one contour, a target contour whose surrounded region has a largest area;
- and
- determining a region surrounded by the target contour as the ideal travelable region;
- determining an anomalous object region on the road based on the travelable region and the ideal travelable region by:
- electronically comparing the ideal travelable region with the travelable region to identify a non-overlapping region that exists in the ideal travelable region but is absent from the travelable region;
- and
- setting the non-overlapping region as the anomalous object region;
- determining a traveling path of a vehicle based on the anomalous object region;
- and
- generating a control signal for controlling navigation of the vehicle based on the traveling path.
Dependencies are inferred from the claim text.