Method and apparatus for suppressing noise in 3D road surface reconstruction

Patent metadata

Field	Value
Publication number	US-12347184-B2
Application number	US-202218079466-A
Country	US
Kind code	B2
Filing date	Dec 12, 2022
Priority date	Dec 30, 2021
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

The present disclosure provides a method, apparatus and computer program product for suppressing noise in 3D road surface reconstruction. The method includes: acquiring an image related to a road surface; extracting horizontal line information and ROI (region of interest) information from the image, wherein the horizontal line information comprises a horizontal line pixel value, and the ROI information is used to perform 3D road surface reconstruction for the road surface; judging whether the difference between the horizontal line pixel value and a preset horizontal line pixel value is greater than a pixel threshold; judging whether the horizontal line pixel value is greater than a compensation threshold when the difference is greater than the pixel threshold; determining a compensation value based on the difference when the horizontal line pixel value is not greater than the compensation threshold; and adjusting the ROI information based on the compensation value.

First claim

What is claimed is:

1. A method for suppressing noise in 3D road surface reconstruction, comprising:
acquiring an image related to a road surface;
extracting horizontal line information and region of interest (ROI) information from the image, wherein the extracted horizontal line information comprises a horizontal line pixel value, and the ROI information is used to perform 3D road surface reconstruction for the road surface;
determining a difference between the horizontal line pixel value and a preset horizontal line pixel value;
determining that the difference is greater than a pixel threshold;
determining that the horizontal line pixel value is not greater than a compensation threshold after determining that the difference is greater than the pixel threshold;
determining a compensation value based on the difference after determining that the horizontal line pixel value is not greater than the compensation threshold; and
adjusting the ROI information based on the compensation value.

2. The method according to claim 1 , wherein adjusting the ROI information further comprises:
obtaining a pixel value of a ROI from the ROI information; and
applying the compensation value to the pixel value of the ROI to obtain a compensated pixel value of the ROI.

3. The method according to claim 2 , further comprising:
performing the 3D road surface reconstruction based on the compensated pixel value of the ROI.

4. The method according to claim 1 , wherein extracting the horizontal line information comprises:
dividing the image into multiple rows;
for each of the multiple rows, computing a pixel value of each row, wherein the pixel value of each row is obtained by adding together pixel values of all points in the row;
comparing the pixel values of all rows to determine a target row with the highest pixel value; and
identifying the target row as a horizontal line and identifying information relating to the target row as the horizontal line information, wherein the pixel value of the target row is identified as the horizontal line pixel value.

5. The method according to claim 1 , further comprising:
determining that the difference is not greater than the pixel threshold; and
performing the 3D road surface reconstruction based on the ROI information after determining that the difference is not greater than a pixel threshold.

6. The method according to claim 1 , further comprising:
determining that the horizontal line pixel value is greater than the compensation threshold; and
discarding the image based on determining that the horizontal line pixel value is greater than the compensation threshold.

7. An apparatus for suppressing noise in 3D road surface reconstruction, comprising:
an acquisition module configured to acquire an image related to a road surface;
an extraction module configured to extract horizontal line information and region of interest (ROI) information from the image, wherein the horizontal line information comprises a horizontal line pixel value, and the ROI information is used to perform 3D road surface reconstruction for the road surface;
a first judgement module configured to judge whether a difference between the horizontal line pixel value and a preset horizontal line pixel value is greater than a pixel threshold;
a second judgement module configured to judge whether the horizontal line pixel value is greater than a compensation threshold when the difference is greater than the pixel threshold;
a determining module configured to determine a compensation value based on the difference when the horizontal line pixel value is not greater than the compensation threshold; and
an adjustment module configured to adjust the ROI information based on the compensation value.

8. The apparatus according to claim 7 , wherein the adjustment module is further configured to:
obtain a pixel value of a ROI from the ROI information; and
apply the compensation value to the pixel value of the ROI to obtain a compensated pixel value of the ROI.

9. The apparatus according to claim 8 , further comprising:
a detection module configured to perform the 3D road surface reconstruction based on the compensated pixel value of the ROI.

10. The apparatus according to claim 7 , wherein the extraction module is further configured to:
divide the image into multiple rows;
for each of the multiple rows, compute a pixel value of each row, wherein the pixel value of each row is obtained by adding together pixel values of all points in the row;
compare the pixel values of all rows to determine a target row with the highest pixel value; and
identify the target row as a horizontal line and identify information relating to the target row as the horizontal line information, wherein the pixel value of the target row is identified as the horizontal line pixel value.

11. An apparatus for suppressing noise in 3D road surface reconstruction, comprising:
at least one processor; and
a memory, storing computer-executable instructions which, when executed, cause the at least one processor to perform the method according to claim 1 .

Assignees

• Bosch Gmbh Robert

Inventors

• Mao Anping
• Wimmer Andreas
• Liu Wei

Classifications

• G06V20/588 Primary

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G06V10/25

  Determination of region of interest [ROI] or a volume of interest [VOI] · CPC title

• G06V10/44

  Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06T2207/30256

  Lane; Road marking · CPC title