The invention relates to a
mobile robot dynamic obstacle real-time detection method and
system based on embedded vision. The method comprises the following steps: performing motion compensation on a historical frame image, generating a motion compensation image, performing
frame difference analysis on the motion compensation image and a current frame image, performing adaptive threshold segmentation in combination with local texture features, and generating a motion candidate
mask; and extracting feature points in the
mask region, calculating an
optical flow vector and generating
RGB image blocks, and performing dynamic attribute
verification after fusion to obtain a verified dynamic
point set. And further calculating an
optical flow direction angle and a fusion speed value, constructing a motion
feature vector and clustering, and generating a central position coordinate of the obstacle instance. And through
rotation matrix conversion and Kalman filtering
processing, a smooth position
estimation value and a smooth speed
estimation value are obtained, and the relative distance and the dynamic
threat degree of the obstacle are calculated. According to the method, through motion compensation, filtering optimization and the like, the real-time performance, precision and
motion estimation accuracy of dynamic obstacle detection in an embedded scene are improved.