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Depth image-based obstacle detection method and device, electronic equipment, medium

A technology of obstacle detection and depth image, which is applied in the field of image processing, can solve the problem that the computing power platform cannot effectively detect obstacles, etc., and achieve the effect of reducing point cloud data processing, strong adaptability, and reducing computational complexity

Active Publication Date: 2022-03-22
HANGZHOU LANXIN TECH CO LTD
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Problems solved by technology

[0005] The purpose of the embodiments of the present application is to provide a depth image-based obstacle detection method and device, electronic equipment, and media to solve the problems that related technologies require a relatively powerful computing power platform to process data and cannot effectively detect obstacles

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  • Depth image-based obstacle detection method and device, electronic equipment, medium
  • Depth image-based obstacle detection method and device, electronic equipment, medium
  • Depth image-based obstacle detection method and device, electronic equipment, medium

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Embodiment Construction

[0051] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0052] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...

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Abstract

The invention discloses an obstacle detection method and device based on a depth image, an electronic device, and a medium. The method includes: acquiring a depth image collected by a depth camera; and calculating the depth by using the internal and external parameters of the depth camera The normal vector angle of each pixel near the ground in the figure and the height from the ground are then counted to obtain the pixel set with the highest weight of the statistical result; the pixel set with the highest weight and the pixel set adjacent to the pixel set are used as seeds growing the region to obtain a ground pixel set; fitting the ground pixel set to obtain a theoretical ground; removing pixels within a second threshold range on the theoretical ground from the depth map to obtain a ground depth map; Obstacle information is calculated from the removed ground depth map according to the external parameters and the internal parameters of the depth camera. It is mainly used in the fields of autonomous mobile robot obstacle avoidance, automatic driving obstacle avoidance, and depth image obstacle extraction and recognition.

Description

technical field [0001] The present application relates to the technical field of image processing, and in particular to a depth image-based obstacle detection method and device, electronic equipment, and media. Background technique [0002] When autonomous driving and autonomous mobile robots are driving, effective obstacle detection can enable autonomous vehicles and autonomous mobile robots to walk safely and reliably, avoid obstacles and complete tasks smoothly. [0003] In the process of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0004] Such as lidar and depth camera, the detected depth information is converted into point cloud information for obstacle detection and object recognition. The platform is not very friendly. Other single-point laser or infrared detection sensors have less data information and cannot effectively detect obstacles. Contents of the invention [0005] The purpose of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06V20/58G06V10/25G06T7/187
CPCG06T7/187G06T2207/10028
Inventor 国学理郑灵杰徐永奎朱月
Owner HANGZHOU LANXIN TECH CO LTD
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