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No-human-body obstacle avoidance method and device based on event camera and intelligent no-human-body obstacle avoidance device

An event and obstacle avoidance technology, applied in the field of computer vision, to achieve the effect of low latency, high dynamics, and avoid excessive obstacle avoidance maneuvering behavior

Pending Publication Date: 2022-04-15
CHINA NANHU ACAD OF ELECTRONICS & INFORMATION TECH
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Problems solved by technology

[0006] The present invention aims to disclose a method and device for intelligent unmanned obstacle avoidance based on event cameras, which are used to solve the problem of measuring the size and distance of moving obstacles with unknown sizes, and the problem of obstacle avoidance for high-speed moving obstacle targets

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[0034] The present invention 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 related invention are shown in the drawings.

[0035] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0036] The intelligent unmanned body in the present invention can be an unmanned device traveling on land, in the air or in water, such as unmanned aerial vehicles, self-driving vehicles, robots, unmanned ships, underwater unmanned boats, etc. These intelligent robots have a ...

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Abstract

The invention discloses a human body-free obstacle avoidance method and device based on an event camera, and an intelligent human body-free obstacle avoidance method. The method comprises the following steps: collecting an event image of a moving obstacle in real time by using a binocular event camera; calculating and storing center point coordinates of the moving obstacle in the left side event camera image and the right side event camera image at each moment, and size information and depth information of the moving obstacle at each moment; reading a center point coordinate of a moving obstacle in any camera continuous frame event image and size information and depth information of the moving obstacle, and calculating a motion vector of a target obstacle; and according to the size information and the motion vector of the target obstacle and the position of the target obstacle in the event image, setting a human-body-free obstacle avoidance triggering condition, and calculating an obstacle avoidance direction and a motion distance. According to the invention, obstacle avoidance of fast moving obstacles can be realized, unnecessary excessive obstacle avoidance maneuvering behaviors can be effectively avoided, and the calculation cost is low.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to a method and device for avoiding obstacles without a human body based on an event camera, and an intelligent non-human body. Background technique [0002] Intelligent unmanned human bodies such as drones and unmanned vehicles have the characteristics of lightness, flexibility, strong mobility, and good concealment, and are widely used in civilian and military fields. With the continuous development of the unmanned human body, the complex and changeable task environment makes the preset global trajectory unable to fully guarantee the safety of the unmanned human body during the execution of autonomous tasks. None of the key components of the human body system. [0003] At present, there are many target detection schemes based on traditional visual cameras in computer vision tasks. However, traditional visual cameras will produce motion blur for high-speed movi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/10G06T7/70G06N3/08G06N3/04H04N5/225H04N13/239H04N13/271
Inventor 陈博文徐庶高爽刘庆杰倪文辉马金艳管达志吴天皓宫成业
Owner CHINA NANHU ACAD OF ELECTRONICS & INFORMATION TECH
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