METHOD AND APPARATUS FOR DETECTING OBSTACLE BASED ON MONOCULAR CAMERA

摘要

PROBLEM TO BE SOLVED: To provide a method and an apparatus for detecting an obstacle based on a monocular camera.SOLUTION: The method comprises: obtaining a target frame image and its adjacent frame image which are shot with a monocular camera; deleting an unstable feature point from an initial feature point set of the adjacent frame image, for obtaining an optimal feature point set of the adjacent frame image; dividing a target feature point set into subsets for obtaining several target feature point subsets; determining whether or not the target feature point subset belongs to an obstacle, for each target feature point subset, based on change of distance of points in a corresponding ground surface projection point set, between time points of the target frame, and of the adjacent frame; and determining a sum of sets of all target feature point subsets determined to belong to the obstacle, as an obstacle point set in the target frame image. In the embodiment of the invention, detection accuracy of an obstacle point and detection efficiency of an obstacle can be improved.SELECTED DRAWING: Figure 1