Method and device for detecting continuous object in disparity direction based on disparity map

摘要

Disclosed are a method and a device for detecting a continuous object in a disparity direction on the basis on a disparity map. The method comprises step of obtaining the disparity map including the continuous object which is continuous in the disparity direction; a step of obtaining disparity cross-sectional views corresponding to disparities or disparity ranges according to a big-to-small order of the disparities, wherein, each of the disparity cross-sectional views is a disparity map cross-sectional generated by all disparity points corresponding to a predetermined disparity or a predetermined disparity range; a step of extracting features from the disparity cross-sectional views according to a property of the continuous object to be detected; and a step of recognizing the continuous object according to a feature sequence of the disparity cross-sectional views.