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Obstacle identification method and system

An obstacle identification and obstacle technology, which is applied in the field of obstacle identification methods and systems, can solve problems such as inability to resist real-time jitter, failure to detect the ground normally, etc., achieve good environmental perception, improve obstacle avoidance strategies, and enhance the degree of intelligence Effect

Active Publication Date: 2020-03-13
HANGZHOU GUANGPO INTELLIGENT TECH CO LTD
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Problems solved by technology

The patent application number is 201510891318, which is based on the Kinect sensor depth map of the robot's working environment uncertainty map construction method. It adopts the technical solution of pre-stored ground for ground detection. When encountering slopes, etc., the ground cannot be detected normally

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Embodiment Construction

[0050] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings, but these embodiments do not limit the present invention, those of ordinary skill in the art make structural, method, or functional changes based on these embodiments All are included in the scope of protection of the present invention.

[0051] Such as figure 1 In one embodiment of the present invention shown, the present invention provides a method for identifying obstacles, the method comprising:

[0052] S1. Acquiring the first depth image of the surrounding environment in the driving route;

[0053] S2. Perform cutting processing on the first depth image to obtain a second depth image corresponding to the driving lane;

[0054] S3. Perform ground fitting based on the second depth image, determine a ground straight line, and remove the ground part according to the ground straight line, and obtain a third depth image without the g...

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Abstract

The invention discloses an obstacle identification method. The method comprises the following steps: acquiring a first depth image of a surrounding environment in a driving route; performing cutting processing on the first depth image to obtain a second depth image corresponding to the driving lane; performing ground fitting based on the second depth image, determining a ground straight line, removing a ground part according to the ground straight line, and obtaining a third depth image without the ground part; and performing clustering analysis on the third depth image, obtaining a pluralityof obstacle clustering point sets, and determining position information of each obstacle. Correspondingly, the invention further discloses an obstacle identification system. According to the invention, the obstacle is monitored in real time, and the obstacle can be better avoided.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to an obstacle recognition method and system. Background technique [0002] With the development of science and technology, robots or express unmanned vehicles are more and more widely used. Obstacle recognition and avoidance has become an important embodiment of robot intelligence. With the continuous development of various robots, the requirements for obstacle avoidance are also increasing. The real environment is often complex and changes in real time. It is necessary to be able to accurately identify obstacles and obtain the distance between them and the robot. The patent application number is 201510891318, which is based on the Kinect sensor depth map and the uncertainty map construction method of the robot's working environment. It adopts the technical solution of pre-stored ground for ground detection. When encountering slopes, etc., the ground cannot be detected no...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G06T5/00G06T7/11G06T7/136G06T7/50
CPCG06T7/11G06T7/136G06T7/50G06T2207/20028G06V20/58G06F18/23G06T5/70
Inventor 黄泽仕余小欢门阳陈嵩白云峰
Owner HANGZHOU GUANGPO INTELLIGENT TECH CO LTD
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