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公开(公告)号：US11302105B2
公开(公告)日：2022-04-12
申请号：US17280745
申请日：2020-03-05
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Wei Zhong , Shenglun Chen , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
Abstract: The present invention discloses a grid map obstacle detection method fusing probability and height information, and belongs to the field of image processing and computer vision. A high-performance computing platform is constructed by using a GPU, and a high-performance solving algorithm is constructed to obtain obstacle information in a map. The system is easy to construct, the program is simple, and is easy to implement. The positions of obstacles are acquired in a multi-layer grid map by fusing probability and height information, so the robustness is high and the precision is high.
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公开(公告)号：US11315318B2
公开(公告)日：2022-04-26
申请号：US17278583
申请日：2020-03-05
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Wei Zhong , Shenglun Chen , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
IPC: G06T17/05 , H04N13/239
Abstract: The present invention discloses a method for constructing a grid map by using a binocular stereo camera. A high-performance computing platform is constructed by using a binocular camera and a GPU, and a high-performance solving algorithm is constructed to obtain a high-quality grid map containing three-dimensional information. The system in the present invention is easy to construct, so the input data may be collected by using the binocular stereo camera; the program is simple and easy to implement. According to the present invention, the grid height is calculated by using spatial prior information and statistical knowledge, so that a three-dimensional result is more robust; and according to the present invention, the adaptive threshold of grids is solved by using spatial geometry, filtering and screening of the grids are completed, and thus the generalization ability and robustness of the algorithm are improved.
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