A computer-implemented method for fording depth estimation based on a real-time image recognition is provided according an embodiment of the present disclosure. In the method, a first image of a low-lying road being submerged under a bridge can be acquired. At least one second image of the low-lying road without being submerged can be determined. A fording depth of the low-lying road can be estimated based on the first image and the at least one second image.
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