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Obstacle detection method and system

An obstacle detection and obstacle technology, applied in the field of obstacle detection methods and systems, can solve problems such as large environmental impact and large amount of calculation

Inactive Publication Date: 2017-09-15
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide an obstacle detection method and system to solve the problems of large amount of calculation and great influence by the environment in traditional detection methods and systems

Method used

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  • Obstacle detection method and system
  • Obstacle detection method and system

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Embodiment Construction

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0074] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0075] figure 1 It is a flow chart of the obstacle detection method of the present invention. Such as figure 1 As shown, the method includes:

[0076] Step 101: Obtain point cloud data. The point cloud data ob...

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Abstract

The invention discloses an obstacle detection method and system. The method comprises steps of acquiring point cloud data acquired by N line laser radar; dividing the point cloud data into Q regions including a first region, a second region, ..., and the Q region; carrying out plane fitting on the point cloud data in the first to Q regions to correspondingly obtain first to Q planes; successively acquiring coordinates of obstacles in the point cloud data of the first to Q regions; and carrying out voxelization processing on the coordinate data of the obstacles to obtain coordinate sets of dynamic obstacles and coordinate sets of static obstacles. According to the invention, large-scale compression of three-dimensional point cloud data is achieved; data processing quantity is greatly reduced; the environment is further divided into three parts: a road region (a feasible region), a static obstacle region and a dynamic obstacle region; and better environment information is provided for effective behavior decisions of the robot.

Description

technical field [0001] The invention relates to the field of intelligent detection, in particular to an obstacle detection method and system. Background technique [0002] Modern robot technology and unmanned driving technology are developing rapidly. With the continuous maturity of technology, robots that can navigate autonomously and plan paths appear in people's lives. While enjoying the convenience brought by robot technology and unmanned driving technology and improving production efficiency, collision accidents between robots, between robots and people, between robots and buildings, etc. occur from time to time, how to avoid robot collisions Accidents have become the focus of attention. Therefore, how to detect various obstacles in the environment during the autonomous action of the robot has become the key to solving collision accidents. Commonly used obstacle detection systems are based on sensors such as single / binocular cameras and millimeter-wave radars. [000...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20
CPCG01S17/93G06T7/20G06T2207/10044G06T2207/30241
Inventor 张昊李擎苏中刘宁刘洪费程羽
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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