Self-adaptive image-based obstacle detection method

摘要

A self-adaptive image-based obstacle detection method comprises steps: capturing an original image; transforming the original image to an HSV color space, and retrieving a hue component (H) and a saturation component (S) of the HSV color space to form an HS-based image; dividing the HS-based image into image blocks; selecting one image block as a background block; using an obstacle recognition equation to determine whether each of the image blocks is similar to the background block; if no, deleting the image block; if yes, preserving the image block to form a binary obstacle image; and overlaying the binary obstacle image on the original image to filter out the background and obtain an initial ambit of an obstacle image. Then, three orderly movement flow equations are used to determine whether it is an obstacle.

主权项

1. A self-adaptive image-based obstacle detection method, comprising steps:
capturing an original image; transforming said original image to an HSV (Hue-Saturation-Value) color space, and retrieving a hue component (H) and a saturation component (S) of said HSV color space to form an HS-based image; dividing said HS-based image into a plurality of image blocks; selecting one of said image blocks as a background block; according to an obstacle recognition equation, determining whether each of said image blocks in said HS-based image is similar to said background block; if said image block is dissimilar to said background block, deleting said image block; if said image block is similar to said background block, preserving said image block to form a binary obstacle image; and overlaying said binary obstacle image on said original image to filter out a background and obtain an initial ambit of an obstacle image.