Patent Document ID: 9805249
Application ID: 14926042
Patent Status: 1

Claim One:
1. A method of recognizing object dangerousness, comprising: a point cloud generation step of generating, based on an image captured by a stereo camera, a heterogeneous point cloud of an object in the image, each point in the heterogeneous point cloud having depth information and planar image information; a first parameter generation step of determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a solid shape of the object corresponding to the heterogeneous point cloud, and then, generating a first dangerousness parameter according to the solid shape; a second parameter generation step of determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a surface feature of the object corresponding to the heterogeneous point cloud, and then, generating a second dangerousness parameter according to the surface feature; and a comprehensive parameter generation step of generating, based on the first and second dangerousness parameters, a comprehensive dangerousness parameter of the object corresponding to the heterogeneous point cloud, wherein, the comprehensive parameter generation step includes: generating, according to historical information related to recognition accuracies based on the first and second dangerousness parameters and/or surface information of the object, first and second weights of the first and second dangerousness parameters, respectively; utilizing the first dangerousness parameter and the first weight so as to obtain a weighted first dangerousness parameter, and utilizing the second dangerousness parameter and the second weight so as to obtain a weighted second dangerousness parameter; and generating, based on the weighted first and second dangerousness parameters, the comprehensive dangerousness parameter.