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Obstacle visual detection method based on FIRA platform

A visual detection and obstacle technology, applied in image data processing, special data processing applications, instruments, etc., can solve the problems of low detection accuracy and slow speed, and achieve high detection accuracy, reduce dependence, and fully utilize the effects.

Active Publication Date: 2021-08-17
XI AN JIAOTONG UNIV
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Problems solved by technology

[0010] In order to solve the problem of low detection accuracy and slow speed of the traditional detection method in the FIRA obstacle avoidance environment, the present invention proposes a visual detection method for obstacles based on the FIRA platform, which directly provides the coordinates and occlusion relationship of the box

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  • Obstacle visual detection method based on FIRA platform
  • Obstacle visual detection method based on FIRA platform
  • Obstacle visual detection method based on FIRA platform

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Embodiment

[0057] The obstacle detection of the dimensionality reduction method of the present invention mainly includes image preprocessing, longitudinal obstacle extraction, obstacle segmentation, exception processing, and result output five parts, each part is specifically as follows:

[0058] 1. Image preprocessing:

[0059] Such as image 3 As shown, first, the color dimensionality reduction from RGB to grayscale is performed on the input image (640*480). Carry out two erosion and dilation operations in sequence, and the kernel size of both erosion and dilation is 2 pixels in size.

[0060] 2. Longitudinal obstacle extraction:

[0061] Take the brightness of 20 as the threshold, extract the number of pixels whose brightness is less than the threshold in each column, and obtain a one-dimensional array with a length of 640. According to the formula 1, the xy coordinates are obtained. If there is no obstacle pixel in a column, dividing by zero in the formula will cause a program err...

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Abstract

The invention discloses a visual obstacle detection method based on an FIRA platform, and the method comprises the steps: image preprocessing: carrying out the graying processing and corrosion expansion operation of an input image; extraction of a longitudinal obstacle: filtering out pixels to which the obstacle belongs from the preprocessed image, and extracting the position of the obstacle corresponding to each column of pixels by counting the number of each column of pixels; obstacle segmentation: performing column direction scanning operation according to the extracted entity coordinates corresponding to the pixels in each column, judging whether the columns belong to the same obstacle or not, and judging the shielding relationship between adjacent obstacles; exception processing: performing exception processing on the result of preliminary obstacle segmentation, extracting side-by-side obstacles with overlong width, then segmenting the midpoint into two obstacles, extracting obstacles at the edge of the picture, and determining the positions of the obstacles through side edge vertexes; and outputting a result. According to the method, environmental geometric information and a camera imaging principle are fully utilized, and the computing resource requirement is greatly reduced under the condition that the precision requirement is met.

Description

technical field [0001] The invention belongs to the field of robot motion control, and in particular relates to an obstacle visual detection method based on a FIRA platform. Background technique [0002] Visual obstacle avoidance is an important method to obtain environmental information in the field of robot motion control, the main method for animal motion obstacle avoidance in nature, and one of the main challenges in the fields of automatic driving and robot automation. There are currently several methods for visual obstacle avoidance of ground robots, such as SLAM, image moments, and so on. [0003] The FIRA simulation obstacle avoidance challenge environment is a virtual platform based on the Gazebo simulation physics engine to drive the turtlebot wheeled robot for obstacle avoidance under ROS (Robot Operating System). It is the official platform of the international competition FIRA SimuroSotRobo challenge. In this environment, it is necessary to control the robot's ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/62G06T7/12G06K9/62G06K9/46G06F30/20
CPCG06T7/80G06T7/62G06T7/12G06F30/20G06T2207/10024G06T2207/30244G06V10/462G06F18/241
Inventor 刘瑾瑜武彤晖危渊钟梦溪
Owner XI AN JIAOTONG UNIV
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