Motion control decision generation method and device, electronic equipment and storage medium

Abstract

The invention provides a motion control decision generation method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a depth prediction map corresponding to the RGB image information based on the first point cloud information, obtained by a laser radar, of a target region and the RGB image information, obtained by a camera, of the target region; determining target point cloud information based on second point cloud information of the depth prediction map projected into the three-dimensional space, and obtaining third point cloud information according to the target point cloud information and the first point cloud information; and determining target multivariate state data according to the third point cloud information, and inputting the target multivariate state data into the deep reinforcement learning control decision model after multi-stage training to obtain a target motion control decision. According to the method provided by the invention, the plane limitation existing in radar detection can be effectively overcome, the target motion control decision is efficiently obtained, and a better moving obstacle avoidance effect is realized.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a motion control decision making method, device, electronic equipment and storage medium. Background technique [0002] With the rapid development of artificial intelligence and computer vision technology, intelligent robots have been widely used in restaurants, shopping malls, banks and other major service places. As a key part of the application of intelligent robots, obstacle avoidance technology has attracted great attention from the industry. Traditional robot obstacle avoidance methods mainly include ultrasonic sensor obstacle avoidance, infrared sensor obstacle avoidance and laser radar obstacle avoidance. [0003] Lidar-based obstacle avoidance methods are limited by cost, power consumption, and difficulty of simulation, and often use single-line radar. However, single-line radar can only detect a certain fixed plane. If the robot has a high altitude, on...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a motion control decision-making method, device, electronic equipment, and storage medium, which are used to solve the problem that the control decision-making effect of moving obstacle avoidance is not good due to inaccurate obstacle detection

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