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Target object determination method and device, target object tracking method and device, equipment and storage medium

A technology of target objects and determination methods, which is applied in image data processing, instruments, calculations, etc., can solve the problems of high cost of unmanned logistics vehicles, difficulty in mass production, and inability to fully realize the autonomous identification goals of unmanned logistics vehicles, and achieve improved Adaptive ability, low cost, effect of improving accuracy and stability

Active Publication Date: 2020-10-09
丰翼科技(深圳)有限公司
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Problems solved by technology

[0003] At present, autonomous follow-up technology mainly combines visual sensors, lidar, ultrasonic, and infrared sensors. However, the use of multi-sensor combinations leads to high cost of logistics unmanned vehicles, making it difficult to carry out large-scale mass production in the logistics field.
At the same time, in the process of autonomous follow-up, the target needs to wear a terminal to provide real-time orientation information, which cannot fully realize the autonomous identification target of the logistics unmanned vehicle.

Method used

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  • Target object determination method and device, target object tracking method and device, equipment and storage medium
  • Target object determination method and device, target object tracking method and device, equipment and storage medium
  • Target object determination method and device, target object tracking method and device, equipment and storage medium

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Embodiment Construction

[0033] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the invention are shown in the drawings.

[0034] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0035] Please refer to figure 1 , figure 1 A schematic flowchart of a method for determining a target object provided by the embodiment of the present application is shown.

[0036] Such as figure 1 As shown, the method includes:

[0037] Step 110, acquiring a binocular environm...

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Abstract

The invention discloses a target object determination method and device, a target object tracking method and device, equipment and a storage medium. The target object determination method comprises the steps of obtaining a binocular environment image of a target object, wherein the binocular environment image comprises image frame data of the target object; calculating a target position of the target object by using a target tracking algorithm; and correcting the target position based on the depth information determined by the image frame data to obtain the final position of the target object.According to the method, based on an existing image-based target tracking algorithm, binocular depth information is fused, so that the accuracy and stability of target tracking are improved, meanwhile, the logistics unmanned vehicle can automatically detect obstacles in the running direction and automatically make responses such as stopping, avoiding and alarming according to the positions and sizes of the obstacles, and therefore the logistics unmanned vehicle is prevented from colliding with the obstacles, and the adaptive capacity to the environment is improved.

Description

technical field [0001] The present invention relates to the technical field of autonomous following, in particular to a method for determining a target object, a tracking method, a device, a device and a storage medium thereof. Background technique [0002] With the development of sensor technology and processor technology, logistics unmanned vehicles will independently follow the technology and develop in an increasingly intelligent direction. Autonomous tracking technology of unmanned logistics vehicles refers to the effective acquisition of information about the environment and its own position and posture through the sensors carried by itself, and at the same time completes the detection of obstacles and targets in the environment, and independently plans the path from the starting position to the target position, thereby To achieve the operation of the target object. It has complete perception, analysis, decision-making and execution modules, and can independently enga...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/593G06T7/73
CPCG06T7/246G06T7/73G06T7/593G06T2207/10012
Inventor 王浩高坚陈颖王恒毛曙源
Owner 丰翼科技(深圳)有限公司
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