Ground automatic detecting and scene height calculating method based on depth image

A depth image, automatic detection technology, applied in computing, image analysis, image data processing and other directions, can solve the problem that optical and acoustic sensors cannot detect the ground very stably, and achieve the effect of in-depth understanding

Inactive Publication Date: 2013-11-13
夏东
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Problems solved by technology

[0002] In modern intelligent monitoring systems and intelligent robot applications, ground detection is of great significanc

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  • Ground automatic detecting and scene height calculating method based on depth image
  • Ground automatic detecting and scene height calculating method based on depth image
  • Ground automatic detecting and scene height calculating method based on depth image

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[0023] In order to make it easy to understand the technical means, creative features, work flow, and use methods of the present invention to achieve the purpose and effect, the present invention is further explained below.

[0024] In order to better understand the present invention, some concepts are defined or explained first.

[0025] 1. Depth image: refers to the image output by the depth camera and contains the depth information of the scene. It is different from the ordinary image that represents the grayscale or color of the scene. The depth image represents the distance information between the scene point and the depth camera.

[0026] 2. Depth camera: refers to a camera that can use one of the following three technologies or the integration of three technologies to obtain scene depth information. These three technologies refer to: Structure light coding, Binocular vision technology (binocular), Time of flight (time of flight).

[0027] 3. Depth camera internal parameters (i...

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Abstract

Provided is a ground automatic detecting and scene height calculating method based on a depth image. If h obtained through calculation of a certain point meets the condition that H1<h<H2 and d<Thsmooth, the point is judged to be on the ground. All points meeting the condition are extracted, a region with the largest area is found through a binary image labeling method, and the region is identified to be the ground. After the ground is judged, l3 of the ground region in an L_matrix is averaged to obtain indication of a plane normal vector under a camera coordinate system. An average value of the ground region h is the installing height of a camera. For any image point, a height calculation formula is as follows. By means of the method, the depth image is used for conducting ground automatic detecting, and the height between all the points and the ground is calculated in the scene according to a ground detecting result. The height information enables an intelligent monitoring system and an intelligent robot to understand the scene deeply and thoroughly.

Description

technical field [0001] The invention relates to a method for ground detection and height measurement, in particular to a method for automatic ground detection and scene height calculation based on a depth image. Background technique [0002] In modern intelligent monitoring systems and intelligent robot applications, ground detection is of great significance for target detection and robot path planning, but traditional optical and acoustic sensors cannot detect the ground stably. Contents of the invention [0003] The technical problem solved by the present invention is to provide a method for automatic ground detection and scene height calculation based on depth images, which uses depth images for automatic detection of the ground, and then calculates the distance from all points in the scene to the ground according to the results of ground detection. high. These height information make the intelligent monitoring system and intelligent robot understand the scene more dee...

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Application Information

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IPC IPC(8): G01B11/03G06T7/00
Inventor 夏东
Owner 夏东
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