A human leg detection method based on two-dimensional scanning laser

Abstract

The invention discloses a human leg detection method based on a two-dimensional scanning laser. Firstly, the indoor environment is scanned by a laser sensor, and the scanned data is preprocessed; secondly, AdaBoost training is performed according to the collected data, and several groups of scans to be collected are The sample is divided into data, and it is used as the input of the algorithm to obtain a strong classifier through the training and learning of the established weak classifier; then the human leg gait detection is performed, that is, the vertical edge detection is performed on the preprocessed laser scanning data, and then extracted from the Detect all subsets that meet the human leg pattern in the vertical edge; finally, use the AdaBoost algorithm to classify and judge the detected SL model. The invention uses a low-cost two-dimensional laser to effectively solve the problem of rapid detection of human legs, is simple and fast, has high accuracy, and avoids the defects of slow calculation and image interference of common computer vision methods.

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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