Method and device for recognizing dangerousness of object

A device for recognizing object dangerousness, comprising:

• memory storing computer-readable instructions;
• and
• one or more processors configured to execute the computer-readable instructions such that the one or more processors are configured to perform operations including,
• generating, based on an image captured by a stereo camera, a heterogeneous point cloud of an object in the image, each point in the heterogeneous point cloud having depth information and planar image information;
• determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a solid shape of the object corresponding to the heterogeneous point cloud, and then, to generate a first dangerousness parameter according to the solid shape;
• determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a surface feature of the object corresponding to the heterogeneous point cloud, and then, to generate a second dangerousness parameter according to the surface feature;
• and
• generating, based on the first and second dangerousness parameters, a comprehensive dangerousness parameter of the object corresponding to the heterogeneous point cloud, wherein, generating the comprehensive dangerousness parameter includes:
• generating, according to historical information related to recognition accuracies based on the first and second dangerousness parameters and/or surface information of the object, first and second weights of the first and second dangerousness parameters, respectively;
• utilizing the first dangerousness parameter and the first weight so as to obtain a weighted first dangerousness parameter, and utilizing the second dangerousness parameter and the second weight so as to obtain a weighted second dangerousness parameter;
• and
• generating, based on the weighted first and second dangerousness parameters, the comprehensive dangerousness parameter.