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Visual target navigation method and device

A navigation method and target technology, applied in the field of visual target navigation methods and devices, can solve the problem that it is difficult for a robot to quickly and accurately complete a navigation task, and achieve the effects of fast and accurate navigation tasks, accurate navigation tasks, and improving the success rate of navigation.

Active Publication Date: 2022-07-12
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0006] The present invention provides a visual target navigation method and device to solve the defect in the prior art that it is difficult for a robot to quickly and accurately complete navigation tasks under the condition of lack of global information input

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  • Visual target navigation method and device
  • Visual target navigation method and device

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Embodiment Construction

[0034] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] figure 1 is a schematic flowchart of the visual target navigation method provided by the present invention, such as figure 1 As shown, the present invention provides a visual target navigation method, the method comprising:

[0036] Step 101 , based on the target image, obtain the target hierarchical relationship feature representation and the first visual feature representation; and obtain the category co...

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Abstract

The present invention provides a visual target navigation method and device. The method includes: obtaining a target hierarchical relationship feature representation and a first visual feature representation based on a target image; obtaining a category code according to target category information; The feature representation, the first visual feature representation, and the category encoding obtain a predicted navigation action. The invention endows the robot with reasoning ability in visual target navigation by coding the target category, and makes up for the lack of global information to a certain extent; through the "target-area" hierarchical relationship, the robot's reasoning is more efficient, and the success rate of navigation is improved. At the same time, the number of navigation steps and time is greatly reduced. In the absence of global information input, the robot can quickly and accurately complete the navigation task.

Description

technical field [0001] The present invention relates to the field of robot technology, and in particular, to a method and device for navigating a visual target. Background technique [0002] With the continuous development of related technologies in the field of robotics, the application of robotics is becoming more and more extensive, and for robots and other unmanned systems, target navigation technology is undoubtedly crucial. However, the traditional robot target navigation technology has very high requirements for sensors, and the navigation system is too complicated, which restricts the development of robot technology to a certain extent. [0003] Nowadays, visual target navigation technology only uses monocular cameras as sensor input to complete target navigation tasks end-to-end, which greatly reduces the deployment cost of unmanned systems and enables the application of robotics to develop more rapidly. [0004] However, visual target navigation technology only us...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06V20/10G06K9/62G06N3/04
CPCG01C21/20G06N3/044G06N3/045G06F18/253
Inventor 杨旭许涛郑碎武乔红
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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