Road-surface height shape estimation method and system

摘要

Disclosed are a method and a system for estimating a height shape of a road surface in a road scene. The method comprises a step of obtaining an original disparity map of the road scene; a step of detecting a road-surface region of interest based on the original disparity map; a step of determining plural road-surface points of interest based on the road-surface region of interest; and a step of estimating the height shape of the road surface in the road scene based on the plural road-surface points of interest.