Real-time ranging of traffic signs for smart car environment perception

In order to effectively solve the problem of real-time distance measurement of traffic signs in intelligent driving environment perception, a distance measurement method based on binocular vision is proposed. In order to solve the problem of real-time distance measurement, the paper proposes to build a correction mapping table, through which the correction coordinates corresponding to any distorted coordinates can be read out. The calibrated parameters are used to calculate the correction mapping table. The coordinates of left and right traffic signs can be obtained through pyramid template matching. Then the parallax is obtained and the distance is measured. The error rate of the measurement method is less than 2.33% within 20 meters to 60 meters. The time of one-time measurement is within 20ms in embedded environment.