Human leg detection method based on two-dimensional scanning lasers

Abstract

The invention discloses a human leg detection method based on two-dimensional scanning lasers. The method comprises the steps that firstly, the indoor environment is scanned through a laser sensor, and scanning data are preprocessed; secondly, AdaBoost training is carried out according to collected data, in other words, data partitioning is carried out on several sets of collected scanning samples, and with the scanning samples as input of an algorithm, a strong classifier is obtained through training and learning on the basis of an established weak classifier; then, human leg gait detection is carried out, in other words, vertical edge detection is carried out on the preprocessed laser scanning data, and all subsets meeting human leg modes are detected in extracted vertical edges; finally, classification judgment is carried out on a detected SL model through the AdaBoost algorithm. According to the method, the purpose of rapid human leg detection is effectively achieved through the low-cost two-dimensional lasers, the method is simple, rapid and high in accuracy, and the defects that a common computer vision method is low in calculation speed and is interfered by images are overcome.

Description

technical field [0001] The invention relates to a human leg detection method, in particular to a human leg detection method based on a two-dimensional scanning laser, in particular to a human leg detection method for a mobile robot in an indoor dynamic unknown environment. Background technique [0002] In human environments such as science and technology museums or museums, human detection is a very critical task and of great significance. Detecting the existence of people in the environment and their position and movement status can better understand and predict people's intentions and actions. At the same time, it can count the flow of people, which is more conducive to staff decision-making and improves work efficiency. The detection of people in some places can also provide the function of human-computer interaction, so as to provide more friendly services. [0003] At present, the research on human detection mainly includes the following methods: vision-based methods, ...

AI Technical Summary

Problems solved by technology

However, the main problems of existing vision-based human detection methods are the need to process a large amount of image information, which makes it difficult to satisfy the real-time performance of the system, and the image is easily affected by external conditions such as light and weather.

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