Barrier detection method and apparatus, device, vehicle, program and storage medium

• Main Authors: MENG KAI, LIU RUIXIANG, HE JUNJIAN, ZHAO DONGXU
• Format: Patent
• Language: Chinese; English
• Published: 23.02.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; HANDLING RECORD CARRIERS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS

Embodiments of the invention disclose a barrier detection method and apparatus, a device, a vehicle, a program and a storage medium. The barrier detection method comprises the steps of performing image collection by utilizing a binocular camera to obtain a first image and a second image collected at the same moment; through a binocular matching algorithm, calculating a disparity map of the first image and the second image; based on the disparity map and the first image and/or the second image, obtaining a passable region; and according to the disparity map and the passable region, obtaining barrier information. By introducing the passable region, and in combination with the disparity map, a barrier region is obtained; and due to the introduction of the passable region, the barrier detection is more accurate, the performance is good under the condition of numerous vehicles on highways, the detection speed is high, and the accuracy is high. 本发明实施例公开了种障碍物检测方法和装置、设备、车辆、程序及存储介质，其中，障碍物检测方法包括：利用双目摄像头进行图像采集，获得同时刻采集的第