Indoor scene real-time reconstruction tracking service method based on elderly care robot

Abstract

The invention discloses an indoor scene real-time reconstruction tracking service method based on an elderly care robot. The method comprises the steps that user information of handheld equipment is imported, denoised and filtered, and preliminary analysis processing is carried out; data is transmitted to a data storage area in the data interaction module through the wireless transmission module;the image acquisition module uses Kinect V2 to acquire an indoor image, including acquisition depth information and color information; reconstructing is performed to obtain multi-frame depth information, and denoising is performed; coordinate axis transformation is carried out to obtain point cloud information; a rigid body transformation matrix is calculated, and an ICP algorithm is adopted; repeated region fusion between image frames is carried out , key point cloud information is extracted, and color information is added; a movement track of the depth camera is planned; triangular meshing is carried out on the point cloud information to generate a three-dimensional model; the three-dimensional model is put into an information storage area of a data interaction module; and a current useris determined, the service is tracked by using the Kinect V2, and an instruction sent by the user is monitored so as to complete a corresponding service function.

Description

technical field [0001] The present invention mainly relates to image reconstruction technology, in particular to real-time three-dimensional scene reconstruction technology, and more specifically, to a real-time indoor scene reconstruction tracking service method based on elderly care robots. Background technique [0002] With the continuous development of population aging in today's society, my country is about to become a country with a deeply aging population. There is also a huge gap in the pension problem. Due to the busy work of their children, the elderly cannot get timely care at home and are prone to autism. In terms of society, the pension functions of our pension institutions are not perfect, and cannot meet the pension needs of the elderly. With the rapid development of artificial intelligence in recent years, elderly care robots are also loved by many elderly people. Fully functional service robots can solve a series of elderly care problems, not only allowing th...

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Problems solved by technology

[0003] However, most of the elderly care robots currently on the market can serve very limited functions, especially when the three-dimensional information in the scene is required during service, many elderly care robots cannot accurately analyze three-dimensional objects. The three-dimensional reconstruction is not very outstanding, so this is also some defects of the current elderly care robot, which leads to a single preset service function, without three-dimensional information, and cannot provide diversified services

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