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1. CN111386530 - VEHICLE DETECTION METHOD AND DEVICE

Office China
Application Number 201880069541.6
Application Date 29.12.2018
Publication Number 111386530
Publication Date 07.07.2020
Publication Kind A
IPC
G06K 9/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06K 9/62
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
G06N 3/08
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
NCOMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
3Computer systems based on biological models
02using neural network models
08Learning methods
G06N 20/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
NCOMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
20Machine learning
CPC
G06K 9/00825
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
00825Recognition of vehicle or traffic lights
G06K 9/6201
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6201Matching; Proximity measures
G06K 9/6223
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6217Design or setup of recognition systems and techniques; Extraction of features in feature space; Clustering techniques; Blind source separation
6218Clustering techniques
622Non-hierarchical partitioning techniques
6221based on statistics
6223with a fixed number of clusters, e.g. K-means clustering
G06K 2209/23
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
2209Indexing scheme relating to methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
23Detecting or categorising vehicles
G06N 3/08
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
NCOMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
3Computer systems based on biological models
02using neural network models
08Learning methods
G06N 20/00
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
NCOMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
20Machine learning
Applicants SZ DJI TECHNOLOGY CO LTD
深圳市大疆创新科技有限公司
Inventors ZHOU YOU
周游
CAI JIANZHAO
蔡剑钊
DU JIEXI
杜劼熹
Agents 北京同立钧成知识产权代理有限公司 11205
北京同立钧成知识产权代理有限公司 11205
Title
(EN) VEHICLE DETECTION METHOD AND DEVICE
(ZH) 车辆检测方法和设备
Abstract
(EN)
Embodiments of the present invention provide a vehicle detection method and device. The vehicle detection method comprises: obtaining an image to be processed and depth information of each pixel pointin said image; obtaining a distance value of a vehicle candidate region in said image according to said image and the depth information; and determining, according to the distance value of the vehicle candidate region, a detection model corresponding to the vehicle candidate region. Vehicles can be detected using different detection models according to different distances, thereby improving the accuracy and reliability of vehicle detection, and reducing the probability of false detection and missed detection.

(ZH)
本发明实施例提供一种车辆检测方法和设备。其中,车辆检测方法包括:获取待处理图像和待处理图像中每个像素点的深度信息;根据待处理图像和深度信息,获取待处理图像中车辆候选区域的距离值;根据车辆候选区域的距离值确定车辆候选区域对应的检测模型。可以根据不同的距离采用不同的检测模型检测车辆,提升了车辆检测的准确性和可靠性,降低了误检测和漏检测概率。

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