Wearable barrier avoiding apparatus and barrier avoiding method based on binocular camera and millimeter-wave radar

Abstract

The invention relates to a wearable barrier avoiding apparatus and barrier avoiding method based on a binocular camera and a millimeter-wave radar, belongs to the field of wearable equipment, and is mainly applied to helping visually impaired people or sports equipment and the like to avoid barriers. The method comprises the following steps: step one, calibrating the binocular camera so as to satisfy a basic condition for obtaining a depth image; step two, performing data acquisition respectively by use of the millimeter-wave radar and the binocular camera; step three, respectively processing the data acquired by the millimeter-wave radar and the binocular camera to obtain such information as distances between the barriers and pedestrians or equipment, speeds, directions and the like; and step four, integrating data processing results of the millimeter-wave radar and the binocular camera, and giving a result after the two devices verify each other. According to the invention, the information of the millimeter-wave radar and the binocular camera is integrated, the problems of unreliable measurement result of a single device and the like can be solved, the measurement precision and reliability are improved, and the apparatus and the method can help the visually impaired people or the sports equipment to avoid the existing barriers.

Description

technical field [0001] The present invention relates to the field of wearable devices, in particular to a wearable obstacle avoidance device and an obstacle avoidance method based on a binocular camera and a millimeter-wave radar. Image and millimeter-wave radar information, devices and methods for assisting visually impaired persons or sports equipment, and avoiding obstacles. Background technique [0002] Eyes are the organs that human beings obtain the most external information. People with visual impairments have difficulty coping with obstacles that often appear in daily life. Simple blind canes provide limited help, and often miss detection; guide dogs require years of professional training, and are not allowed to enter in some occasions; bionic eye implants are traumatic to the human body and expensive. The fee is not suitable for ordinary visually impaired people. The traditional electronic vision aids mainly include binocular vision aid system, active optical dept...

AI Technical Summary

Problems solved by technology

[0003] The visual aid technology based on the binocular camera can provide a certain range of depth images, and can provide some help for the visually impaired to avoid obstacles. Significant places are likely to cause missed detection, and the required matching algorithm is complex and requires a large amount of calculation, which is likely to cause delays in processing results

[0004] Compared with the binocular camera, the active optical depth camera has the advantage of being able to obtain dense and accurate depth images in real time, but it is greatly affected by sunlight outdoors, which makes it impossible to accurately detect distant obstacles

And the camera has a fixed field of view, and cannot accurately detect environmental conditions other than the field of view

However, the laser ranging or ultrasonic ranging system can only measure the distance of a single point object, and cannot detect the overall shape of the obstacle, and it is easy to cause misjudgment and missed judgment of the obstacle.

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