Method and apparatus for detecting continuous road partition

A method for detecting a continuous road partition with a height, comprising the steps of:

• obtaining disparity maps having the continuous road partition, and obtaining U-disparity maps derived from the disparity maps;
• obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of a first frame;
• and
• detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result, wherein the step of detecting the continuous road partition from the U-disparity map of the current frame based on the obtained intermediate detection result further comprises the steps of
• narrowing down a scope for detecting the continuous road partition from the U-disparity map of the current frame, based on the intermediate detection result;
• detecting a continuous road partition candidate from the narrowed down scope;
• and
• determining whether the continuous road partition candidate meets a condition of a threshold of a predetermined detection parameter or not, and extracting the detected continuous road partition candidate as a detection result if the threshold condition is met, and
• wherein the step of detecting a continuous road partition candidate from the narrowed down scope further comprises the step of adjusting the threshold of the detection parameter if the number of pixels that are capable of forming the continuous road partition in the narrowed down scope is too low.

A method for detecting a continuous road partition with a height, comprising the steps of:

• obtaining disparity maps having the continuous road partition, and obtaining U-disparity maps derived from the disparity maps;
• obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of a first frame;
• and
• detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result, wherein the step of detecting the continuous road partition from the U-disparity map of the current frame based on the obtained intermediate detection result further comprises the steps of
• narrowing down a scope for detecting the continuous road partition from the U-disparity map of the current frame, based on the intermediate detection result;
• detecting a continuous road partition candidate from the narrowed down scope;
• and
• determining whether the continuous road partition candidate meets a condition of a threshold of a predetermined detection parameter or not, and extracting the detected continuous road partition candidate as a detection result if the threshold condition is met,
• wherein the step of detecting a continuous road partition candidate from the narrowed down scope further comprises the step of adjusting the threshold of the detection parameter if the number of pixels that are capable of forming the continuous road partition in the narrowed down scope is too low, and
• tracking the thresholds of the detection parameters applied to the U-disparity map of the current frame and at least the U-disparity map of the previous frame, and adjusting the threshold of the detection parameter to be applied to the U-disparity map of the next frame.

A method for detecting a continuous road partition with a height, comprising the steps of:

• obtaining disparity maps having the continuous road partition, and obtaining U-disparity maps derived from the disparity maps;
• obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of a first frame;
• and
• detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result, wherein the step of detecting the continuous road partition from the U-disparity map of the current frame based on the obtained intermediate detection result further comprises the steps of
• narrowing down a scope for detecting the continuous road partition from the U-disparity map of the current frame, based on the intermediate detection result;
• detecting a continuous road partition candidate from the narrowed down scope;
• and
• determining whether the continuous road partition candidate meets a condition of a threshold of a predetermined detection parameter or not, and extracting the detected continuous road partition candidate as a detection result if the threshold condition is met, and
• wherein the predetermined detection parameter comprises at least one of a minimum line length of a line representing the continuous road partition, a maximum interval length on the line, the number of pixels on the line, the density of pixels on the line and the permissible error of pixels on the line.

An apparatus for detecting a continuous road partition with a height, comprising:

• an image obtaining unit configured to obtain disparity maps having the continuous road partition, and obtain U-disparity maps derived from the disparity maps;
• an intermediate detection result obtaining unit configured to obtain an intermediate detection result of the continuous road partition detected from the U-disparity maps of a first frame;
• and
• a detecting unit configured to detect the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result, wherein the obtained intermediate detection result further comprises the step of detecting a curved continuous road partition by detecting a plurality of continuous line segments with different slopes from the U-disparity map.