The invention discloses an RGB-D
video based robot target recognition and localization method and
system. The target category is determined and accurate spatial position localization is acquired in a scene through the steps of target candidate extraction, recognition,
time sequence consistency based confidence
estimation, target segmentation optimization, position
estimation and the like. In the invention, depth information of the scene is utilized, the spatial level
perception ability of a recognition and localization
algorithm is enhanced, the identity and the relevance of a target in a long
time sequence target recognition and localization task are ensured while the
video processing efficiency is improved through adopting
key frame based long-short time time-space consistency constraints. In the localization process, collaborative target localization in a multi-information
modal is realized through accurately segmenting the target in a planar space and evaluating the position consistency of the same target in a depth
information space. The RGB-D
video based robot target recognition and localization method and
system are small in calculation amount, good in real-time performance and high in recognition and localization accuracy, and can be applied to
robot tasks based on online visual information
parsing and understanding technologies.