Blind autonomous navigation method based on stereoscopic vision and information fusion

Abstract

The invention relates to the technical field of navigation systems, in particular to a blind autonomous navigation method based on the stereoscopic vision and the information fusion. The output part of a left image and right image is connected with an image preprocessing part, the output of the image preprocessing part is connected with an image segmentation part, the image segmentation part is connected with a characteristic extraction part, the output of the characteristic extraction part is connected with a stereographic matching part, the output of the stereographic matching part is connected with a parallax chart obtaining part, the output of the parallax chart obtaining part is connected with a depth image obtaining part and a target detection and marking part, the output of the depth image obtaining part is connected with the target detection and marking part, the output of the target detection and marking part is connected with a target size, distance, direction and calculation participation part, the output of the target size, distance, direction and calculation participation part is connected with a multi-sensor information fusion part, the output of the multi-sensor information fusion part is connected with a voice output part of information, such as obstacle position, size, distance, direction and the like, and the outputs of an ultrasonic wave ranging part, an electronic compass direction finding part and a GPS positioning part are connected with the multi-sensor information fusion part. In the invention, the algorithm has great use value for improving the autonomy and the independent walking ability of the blind.

Description

technical field [0001] The invention relates to a navigation system, in particular to an autonomous navigation method for blind people based on stereo vision and information fusion. Background technique [0002] There are tens of millions of disadvantaged groups in our country. When they travel, they will face various complex and changeable traffic environments. The increasing number of motor vehicles and various obstacles on the road will threaten the travel of the blind. One is walking, and the other is traveling by car. The walking of the blind requires a navigator or a navigation dog. [0003] Stereo vision (stereo vision) is one of the core technologies of computer vision, which can be used to construct the depth information of objects in the environment in the image. Binocular vision is a stereoscopic perception system that is widely concerned at present. It has the advantages of compact structure, low energy consumption, rich information, and high recognition accurac...

AI Technical Summary

Problems solved by technology

However, blind guide aids designed based on stereo vision methods are easily affected by ambient light sources and occluders. The noise generated by stereo matching makes it difficult for the main target to be separated from the background, resulting in an increase in the misjudgment rate of obstacles, and the obtained target depth information Often there is a large error

Ultrasonic sensors have high distance detection accuracy, but their use in complex environments is limited

The current guide aids are mostly based on one of the above two, combined with other sensors to detect obstacles, lack of autonomous navigation algorithms that effectively use the advantages of different sensors to complement each other

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