Method, device, apparatus and storage medium for detecting a height of an obstacle

A method for detecting a height of an obstacle, comprising:

• acquiring observation data of a plurality of reference obstacles from a frame;
• according to the observation data of each of the reference obstacles, fitting a function F:
• Z=F(ymax),
• where the observation data of a reference obstacle comprises a longitudinal coordinate of a bottom of the reference obstacle in the frame, and a distance between the reference obstacle and a camera capturing the frame, and
• where ymax is a longitudinal coordinate of a bottom of the reference obstacle in the frame, and Z is a distance between the reference obstacle and the camera;
• determining a distance between the obstacle to be detected and the camera, according to the longitudinal coordinate of the bottom of the obstacle in the frame and the function F;
• and
• determining an evaluation value of a height of the obstacle to be detected, according to the distance between the obstacle to be detected and the camera.

A device for detecting a height of an obstacle, comprising:

• one or more processors;
• and
• a storage device configured for storing one or more programs, wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:
• acquire observation data of a plurality of reference obstacles from a frame;
• according to the observation data of each of the reference obstacles, fit a function F:
• Z=F(ymax), wherein the observation data of a reference obstacle comprises a longitudinal coordinate of a bottom of the reference obstacle in the frame, and a distance between the reference obstacle and a camera capturing the frame;
• wherein ymax is a longitudinal coordinate of a bottom of the reference obstacle in the frame;
• and
• Z is a distance between the reference obstacle and the camera;
• determine a distance between the obstacle to be detected and the camera, according to the longitudinal coordinate of the bottom of the obstacle in the frame and the function F;
• and
• determine an evaluation value of a height of the obstacle to be detected, according to the distance between the obstacle to be detected and the camera.

A non-transitory computer-readable storage medium, in which a computer program is stored, wherein the computer program is executed by a processor to enable the processor to:

• acquire observation data of a plurality of reference obstacles from a frame;
• according to the observation data of each of the reference obstacles, fit a function:
• F:
• Z=F(ymax),
• wherein the observation data of a reference obstacle comprises a longitudinal coordinate of a bottom of the reference obstacle in the frame, and a distance between the reference obstacle and a camera capturing the frame;
• wherein ymax is a longitudinal coordinate of a bottom of the reference obstacle in the frame;
• and Z is a distance between the reference obstacle and the camera;
• determine a distance between the obstacle to be detected and the camera, according to the longitudinal coordinate of the bottom of the obstacle in the frame and the function F;
• and
• determine an evaluation value of a height of the obstacle to be detected, according to the distance between the obstacle to be detected and the camera.