Topographic environment detection method and system based on binocular stereo camera, and intelligent terminal

A topographic environment detection system based on a binocular stereo camera, comprising:

• a disparity map obtaining unit configured to obtain a left-eye image and a right-eye image about a same road scenario, and process the left-eye image and the right-eye image to obtain a dense disparity map of the road scenario;
• a coordinate conversion unit configured to convert image information in a detection region into 3D point cloud information in a world coordinate system in accordance with the dense disparity map;
• a road surface model obtaining unit configured to fit a road surface model in accordance with the 3D point cloud information;
• an image segmentation unit configured to input an image in the detection region into a trained semantic segmentation model, and obtain a segmentation result from the semantic segmentation model;
• and
• a result output unit configured to obtain topographic information about the detection region in accordance with the segmentation result, and transmit the topographic information to a vehicle assistant driving system, so that the vehicle assistant driving system sends a driving instruction and/or warning information in accordance with the topographic information.