Flatness detecting method of road, computing apparatus, and computer-readable medium

A computing apparatus, comprising:

• a memory storing a program code;
• and
• a processor coupled to the memory and loading the program code and executing:
• obtaining depth information, wherein the depth information comprises depth values corresponding to a plurality of pixels;
• converting the depth information into a height relation map, wherein height values of the pixels in the height relation map are converted from corresponding depth values, and the height value of each of the pixels is related to a height of a ground;
• and
• determining flatness categories corresponding to the pixels via a semantic segmentation model according to the height relation map, wherein the semantic segmentation model is trained with an association between at least one reference height and a corresponding flatness category.

A non-transitory computer-readable medium, loaded with a program code via a processor to perform the following steps:

• obtaining depth information, wherein the depth information comprises depth values corresponding to a plurality of pixels;
• converting the depth information into a height relation map, wherein height values of the pixels in the height relation map are converted from corresponding depth values, and the height value of each of the pixels is related to a height of a ground;
• and
• determining flatness categories corresponding to the pixels via a semantic segmentation model according to the height relation map, wherein the semantic segmentation model is trained with an association between at least one reference height and a corresponding flatness category.