A real-time step detection method based on binocular camera

Abstract

The invention discloses a real-time step detection method based on a binocular camera. Obtain the depth information of the image through the parallax of the two images collected by the binocular camera, and combine the nine-axis gyroscope (gravity acceleration, gyroscope, magnetometer) to reconstruct the depth information in the camera coordinate system into a three-dimensional point in the world coordinate system Cloud, segment the point cloud composed of roads and other point clouds by the plane fitting method, and then perform plane fitting on the point cloud composed of roads to judge whether the road is flat or composed of steps. The present invention can detect the upper and lower steps and the distance from the user in real time, and can help visually impaired people (blind people, people with low vision) go up and down the steps to ensure their personal safety; the present invention adopts passive detection, low power consumption, no It will interfere with others, and fully considers the interference factors that may be encountered in various practical environments, and has the advantages of fast speed, high precision, and high cost performance.

Description

technical field [0001] The invention belongs to the technical fields of computer vision and machine learning, and in particular relates to a real-time step detection method based on a binocular camera. Background technique [0002] According to the World Health Organization, there are about 285 million visually impaired people in the world, of which 39 million are totally blind. Due to the lack of normal vision, the visually impaired cannot effectively distinguish whether there are steps on the ground, which poses a threat to the travel of the visually impaired. [0003] At present, the detection of steps is mostly based on radar, but radar is large in size and consumes a lot of power, making it difficult to make it into a wearable device. Image-based step detection is based on the gradient of the grayscale image or the gradient of the depth. The former is affected by light changes and has poor adaptability to the environment. The latter has high requirements on the accura...

AI Technical Summary

Problems solved by technology

Due to the lack of normal vision, the visually impaired cannot effectively distinguish whether there are steps on the ground, which poses a threat to the travel of the visually impaired

[0003] At present, the detection of steps is mostly based on radar, but radar is large in size and consumes a lot of power, making it difficult to make wearable devices

Image-based step detection is based on the gradient of the grayscale image or the gradient of the depth. The former is affected by light changes and has poor adaptability to the environment.

The latter has high requirements on the accuracy of the depth map, and the performance of consumer-level depth cameras cannot meet its accuracy requirements.

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