Method and apparatus for obstacle detection based on a monocular camera

摘要

It is a method and a device for the obstacle detection provided on the basis of a monocular camera. The method comprises: obtaining a target individual image and its adjacent frame, of the monocular camera; deletion of an unstable characteristic point of an output characteristic point set of the adjoining frame, in order to obtain a preferred feature point set, to be obtained; parts of a target feature point set, so that a plurality of target feature point part sets, to be obtained; judging on the basis of a change of a distance between points in a bottom projection point set of the target feature point part set of the point in time of the adjoining frame up to the time of the target individual image whether the target feature point part set of an obstacle; and determining a combination of all of the target feature point part sets, which are assessed as obstacles, as an obstacle point set of the target individual image. With the present invention, the accuracy and efficiency for the detection of an obstacle point improved.