US 12,347,184 B2
Method and apparatus for suppressing noise in 3D road surface reconstruction
Anping Mao, Suzhou (CN); Andreas Wimmer, Suzhou (CN); and Wei Liu, Suzhou (CN)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Dec. 12, 2022, as Appl. No. 18/079,466.
Claims priority of application No. 202111649074.4 (CN), filed on Dec. 30, 2021.
Prior Publication US 2023/0215163 A1, Jul. 6, 2023
Int. Cl. G06V 10/44 (2022.01); G06V 10/25 (2022.01); G06V 10/98 (2022.01); G06V 20/56 (2022.01)
CPC G06V 10/993 (2022.01) [G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01)] 11 Claims
OG exemplary drawing
 
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.