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Obstacle detection method and device, computer readable storage medium and processor

A technology of obstacles and robots, applied in the field of point cloud processing, can solve problems such as false detection, low reliability, and missed detection of obstacles

Pending Publication Date: 2022-07-19
HANGZHOU LANXIN TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The main purpose of this application is to provide an obstacle detection method, device, computer-readable storage medium and processor to solve the problem of missed and false detection of obstacles caused by the low reliability of ground plane equations in the prior art

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  • Obstacle detection method and device, computer readable storage medium and processor
  • Obstacle detection method and device, computer readable storage medium and processor

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Embodiment Construction

[0025] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0026] It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and / or combinations thereof.

[0027] It will be understood that when an element such as a layer, film, region, or substrate is ...

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Abstract

The invention provides an obstacle detection method and device, a computer readable storage medium and a processor, and the method comprises the steps: obtaining a to-be-recognized point cloud which is the point cloud of an object in the visual field of a depth camera; calculating a ground plane equation in real time according to the to-be-identified point cloud, wherein the ground plane equation is an equation of the current ground under a robot coordinate system; a plane corresponding to the ground plane equation is moved by a first preset value in the positive direction of the Z axis of the robot coordinate system, and a segmented plane is obtained; determining a preparation obstacle point cloud according to the segmentation plane, wherein the preparation obstacle point cloud is a to-be-recognized point cloud located on one side, close to the positive direction of the Z axis of the robot coordinate system, of the segmentation plane; and the prepared obstacle point cloud is identified, the obstacle point cloud is determined, and the obstacle point cloud is the point cloud calibrated as an obstacle. The method solves the problem that in the prior art, due to the low reliability of a ground plane equation, missing detection and false detection of obstacles are caused.

Description

technical field [0001] The present application relates to the technical field of point cloud processing, and in particular, to an obstacle detection method, device, computer-readable storage medium, and processor. Background technique [0002] At present, manufacturing factories are developing in the direction of automation and intelligence. In some scenarios, AGVs replace the role of traditional manual handling. AGV belongs to a kind of small automatic driving equipment in a specific scenario, which needs to detect the state of the surrounding environment. At present, the perception of AGV has become an indispensable role. In the factory floor or warehouse, the environment is difficult to remain unchanged. There may be various unknown obstacles on the path planned by the AGV. The perception layer needs to identify these obstacles near the AGV in a timely and accurate manner. Common AGV external environment perception sensors include lidar, sonar, monocular camera, binocula...

Claims

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Application Information

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IPC IPC(8): G06V20/10G06T7/50G06T7/11G06T5/00G06K9/62G01C21/20G06V10/762
CPCG06T7/11G06T7/50G01C21/20G06T2207/10028G06F18/23G06T5/70
Inventor 徐鹏程杨静
Owner HANGZHOU LANXIN TECH CO LTD
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