An Obstacle Detection and Distance Measurement Method for Sloped Roads Based on VIDAR

Table 7

Distance measurement results based on monocular vision.

Time	Slope (°)	Obstacle	Actual distance (m)	Measuring distance (m)	Distance difference (m)	Error (%)
2021 8 16 10 0 32.825	7.35	1	13.793	13.926	0.133	0.964
		2	13.609	13.800	0.191	1.403
		3	12.651	12.637	0.014	0.111
		4	14.198	14.052	0.146	1.028
2021 8 16 10 0 34.327	7.21	1	13.719	13.826	0.107	0.780
		2	13.499	13.594	0.095	0.704
		3	12.265	12.350	0.085	0.693
		4	14.270	14.091	0.179	1.254
2021 8 16 10 0 35.766	7.10	1	13.532	13.422	0.110	0.813
		2	13.358	13.196	0.162	1.213
		3	12.309	12.131	0.178	1.446
		4	13.998	13.875	0.123	0.879
2021 8 16 10 0 38.630	6.88	1	13.321	13.228	0.093	0.698
		2	13.102	13.089	0.013	0.099
		3	12.037	11.931	0.106	0.881
		4	13.713	13.655	−0.058	0.423