# US 2019/0318487 A1 · Method and apparatus for detection of false alarm obstacle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0318487 A1 - Document ID: US20190318487A1 - Status: Published application - Kind: A1 - Application number: 16/452,608 - Filed: 2019-06-26 - Published: 2019-10-17 - Earliest claimed: 2016-12-28 - Assignees: Cloudminds (Shenzhen) Robotics Systems Co., Ltd. - Applicants: Cloudminds (Shenzhen) Robotics Systems Co., Ltd. - Inventors: Yimin LIN; Rumin ZHANG; Shiguo LIAN - Web page: https://patentgrep.com/patent/US20190318487A1 ## CPC - G06T 7/285: using a sequence of stereo image pairs - G06T 7/12: Edge-based segmentation - G06T 7/13: Edge detection - G06T 7/254: involving subtraction of images - G06T 7/593: from stereo images - G06T 7/97: {Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85)} - G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G08B 29/185: {Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system} - H04N 7/183: {for receiving images from a single remote source} - H04N 13/128: Adjusting depth or disparity - H04N 13/204: using stereoscopic image cameras (stereoscopic photography G03B35/00) - H04N 13/239: using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) - G06T 2207/30232: Surveillance - G06T 2207/30261: Obstacle - H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals} - H04N 2013/0085: {Motion estimation from stereoscopic image signals} - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract The embodiment of the present application provides a method and apparatus for detection of false alarm obstacle, and relates to the field of identification and detection technology, in order to improve accuracy for the obstacle detection. The method includes: obtaining a first view at a moment t and a second view at a moment t-1, collected by a camera; determining location information of the same obstacle to be detected in the first view and the second view; determining motion information of the camera from moment t-1 to the moment t; judging whether the location information of the same obstacle to be detected in two views being matched with the motion information of the camera; and if not, judging the obstacle to be detected as a false alarm obstacle. The embodiment of the present application is applied to obstacle detection. ## Claims ### Claim 1 A method for detection of false alarm obstacle, comprising: obtaining a first view at a moment t and a second view at a moment t-1, collected by a camera; determining location information of the same obstacle to be detected in the first view and the second view; determining motion information of the camera from moment t-1 to the moment t; judging whether the location information of the same obstacle to be detected in two views being matched with the motion information of the camera; and if not, judging the obstacle to be detected as a false alarm obstacle. ### Claim 2 (depends on 1) The method according to claim 1, wherein, said judging whether the location information of the same obstacle to be detected in two views being matched with the motion information of the camera comprises: determining the motion information of the obstacle to be detected according to the location information of the obstacle to be detected in the two views; judging whether the motion information of the obstacle to be detected is consistent with the motion information of the camera; and when the motion information of the obstacle to be detected is inconsistent with the motion information of the camera, judging that the location information of the same obstacle to be detected in the two views being not matched with the motion information of the camera. ### Claim 3 (depends on 1) The method according to claim 1, wherein said judging whether the location information of the same obstacle to be detected in two views being matched with the motion information of the camera comprises: estimating estimated location information of the obstacle to be detected in the first view, according to the motion information of the camera and the location information of the obstacle to be detected in the second view; judging whether the estimated location information of the obstacle to be detected in the first view is consistent with the location information of the obstacle to be detected in the first view; and if the estimated location information of the obstacle to be detected in the first view is inconsistent with the location information of the obstacle to be detected in the first view, judging that the location information of the obstacle to be detected in the two views being not matched with the motion information of the camera. ### Claim 4 (depends on 2) The method according to claim 2, wherein the camera is a binocular camera; the first view is a disparity map from the left view and the right view collected by the binocular camera at the moment t; and the second view is a disparity map from the left view and the right view collected by the binocular camera at the moment t-1; and said determining motion information of the camera from moment t-1 to the moment t comprises: determining the motion information of the camera according to the location information of other objects except for the obstacle to be detected in the first view and the location information of the other objects in the second view. ### Claim 5 (depends on 4) The method according to claim 4, wherein a target view comprises the first view or the second view, and determining the location information of the object in the target view comprises: based on a sub-disparity value range divided from a disparity value range of the target view, setting a disparity value beyond the sub-disparity value range in the target view as a first disparity threshold, so as to generate a sub-view of the target view; performing contour detection on the sub-view to obtain contour information of the object in the sub-view; and determining the location information of the object according to the contour information of the object and the disparity value of each pixel point in the sub-disparity map. ### Claim 6 (depends on 1) An electronic device, wherein the electronic device comprises a memory and a processor, the memory is coupled in the processor and is configured to store computer software codes, and the computer software codes are configured to control the processor to execute the method according to claim 1. ### Claim 7 (depends on 1) A computer storage medium, for storing computer software instructions used by the apparatus for detection of false alarm obstacle and containing program codes designed to execute the method according to claim 1.