Multi-camera visual perception system for UGV (Unmanned Ground Vehicle)

Abstract

The invention belongs to the technical field of autonomous running and visual perception, particularly relates to a multi-camera visual perception system for a UGV (Unmanned Ground Vehicle) and aims to solve the problems of single perception algorithm, poor real-time performance, poor system expandability, inconvenience in debugging, limitation to the view field control and the like of an image processing system of the existing UGV and autonomous mobile robot. The system comprises a plurality of vehicle-mounted image processing industrial personal computers and one or a plurality of debugging monitoring computers, wherein each vehicle-mounted image processing industrial personal computer is connected with three cameras; one or a plurality of debugging monitoring computers are used for controlling the vehicle-mounted image processing industrial personal computers by a wireless router; and a control mode can be a redundancy control mode and also can be a respective control mode. In the system, an optimized visual perception method on the basis of multiple threads is adopted; and threads comprise a multi-camera video acquisition thread, a lane line perception thread, a barrier, cone bucket and signal lamp perception thread and the like. Compared with a conventional single-thread visual perception method, the optimized visual perception method on the basis of the multiple threads has higher real-time performance, stability and expandability.

Description

technical field [0001] The invention belongs to the technical field of autonomous driving and visual perception, and in particular relates to a multi-camera visual perception system for unmanned vehicles, which can be used for visual perception and image processing of unmanned vehicles and autonomous mobile vehicles. Background technique [0002] In recent years, various small and medium-sized vehicles and robots that can move autonomously have begun to enter the fields of industrial production, security and home services. In order to study the autonomous driving technology of automobiles, various miniature unmanned vehicle simulation verification systems have also been developed by some scientific research institutes. Visual perception technology is a key technology for autonomous vehicles and mobile robots, and it has obvious advantages over other traditional sensor perception technologies in the field of environment perception and navigation. Visual perception technology...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to overcome the existing micro unmanned vehicles and autonomous mobile robots image processing system perception algorithm is single and real-time is not strong, poor system scalability, debugging inconvenience and limitations of field of view control, etc., to propose a multi- Camera unmanned vehicle visual perception system, the system is economical, reliable, and has good scalability. It has good real-time performance for the perception and recognition of the simulated traffic environment. It can be applied to the environment perception and navigation of intelligent simulation vehicles and small autonomous mobile robots

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