Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Ground obstacle detection method based on binocular stereo vision of robot

A binocular stereo vision and obstacle detection technology, applied in the field of intelligent robots, can solve the problems of incomplete environmental information and large amount of calculation, achieve low load, less energy consumption, and solve the real-time problem of obstacle detection

Active Publication Date: 2010-10-06
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF4 Cites 59 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to solve the problems of large amount of calculation and incomplete environmental information in the current method of using stereo vision to establish a grid map, and to provide a ground obstacle detection method based on robot binocular stereo vision. Analyze the distribution of ground parallax, identify the ground and obstacles in the image, and finally control the robot to implement obstacle avoidance

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Ground obstacle detection method based on binocular stereo vision of robot
  • Ground obstacle detection method based on binocular stereo vision of robot
  • Ground obstacle detection method based on binocular stereo vision of robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a ground obstacle detection method based on the binocular stereo vision of a robot, which belongs to the technical field of intelligent robots, and comprises the following steps that: according to the binocular baseline length and the focus, the ground parallax values of all rows in an image are analyzed through the geometrical configuration of the known image; based on the ground parallax values, a back projection model calculates the three-dimensional coordinates of a scene point corresponding to a pixel so as to initially judge whether the pixel belongs to an obstacle or a ground point; the obstacle and the ground point are respectively endowed with different colors; the results are post-processed and the false obstacle is removed; and three-dimensional errors are removed and a grid map is established. The method is applicable to various complicated indoor environments, can precisely identify various obstacles, has very high real-time performance, and provides very good preparation conditions for the robot to avoid obstacles.

Description

technical field The invention relates to a design system, in particular to a ground obstacle detection method based on robot binocular stereo vision, and belongs to the technical field of intelligent robots. Background technique In the process of autonomous exploration, obstacle avoidance is a necessary basic function of mobile robots. At present, most mobile robots use distance sensors for obstacle avoidance. While distance sensors can provide precise distance-orientation information about obstacles, they can only detect obstacles located on the scan plane, and vision systems can provide rich and real-time environmental information for mobile robots, so they have been extensively studied and apply. The obstacle avoidance algorithm usually consists of two parts: the obstacle detection algorithm is used to find and estimate the position and shape of the obstacle; the obstacle avoidance strategy is used to generate safe and effective motion control. The present invention m...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/36G06T7/00G05D1/00
Inventor 方浩窦丽华曹虎张海强陈杰华承昊毛昱天孙巍刘华罡
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products