| 摘要 |
PROBLEM TO BE SOLVED: To provide vehicle detection method and device.SOLUTION: The method comprises steps of: acquiring a gray scale image and a corresponding parallax image; detecting a horizontal edge and a vertical edge from the gray scale image, then performing binarization processing, and then acquiring the binarized horizontal edge image and the vertical edge image respectively; combining the horizontal edge image, the vertical edge image, and the parallax image, then calculating symmetry to respective row, among the calculating symmetry, calculating symmetry related to one or more first widths of the row based on degree of a lateral vertical edge of a vehicle reflected to the vertical edge image, symmetry of an area type in the horizontal edge image, symmetry of the lateral vertical edge of the vehicle in the parallax image about one or more first widths in a width range in the image of the vehicle related to the row; and, detecting the vehicle based on the symmetry of the respective row. |
