Method and device for detecting gathering of objects based on stereo vision as well as non-transitory computer-readable medium

A method of detecting a gathering of objects based on stereo vision, comprising:

• an obtainment step of obtaining a current image and a prior image of a target scene as well as corresponding depth information of the current image and the prior image;
• a first projection step of extracting foreground pixels corresponding to detection objects from the current image and the prior image, and then, projecting, based on the corresponding depth information, the foreground pixels corresponding to the detection objects onto a ground surface so as to acquire a foreground projection image including foreground projection blocks;
• a second projection step of conducting, based on image feature differences of the foreground pixels corresponding to the detection objects between the current and prior images, projection onto the ground surface to acquire moving foreground projection blocks indicating motion of the detection objects so as to get a moving foreground projection image;
• an erosion step of eroding the foreground projection blocks by utilizing the moving foreground projection blocks so as to obtain still foreground projection blocks;
• and
• a determination step of determining, based on the still foreground projection blocks, whether the gathering of objects exists.