Plane and barrier detection method based on RGB-D camera and attitude sensor

A posture sensor and obstacle detection technology, applied in instruments, image data processing, computing, etc., can solve the problems of few effective points, difficult integration, high computing performance and storage requirements of processing modules

Active Publication Date: 2015-09-09
ZHEJIANG UNIV
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Problems solved by technology

First of all, the feature point extraction and matching algorithms for obtaining 3D depth information are relatively complex, and the effective points obtained in the field of

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  • Plane and barrier detection method based on RGB-D camera and attitude sensor
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  • Plane and barrier detection method based on RGB-D camera and attitude sensor

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Embodiment Construction

[0062]The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0063] Such as figure 1 Shown, a kind of plane and obstacle detection method based on RGB-D camera and attitude sensor of the present invention, comprises the following steps:

[0064] (1) Acquisition of environmental three-dimensional information, specifically including the following sub-steps:

[0065] (1.1) Initialize the RGB-D camera to obtain the internal parameters of the color camera and the depth camera, the internal parameters include the horizontal field of view and the vertical field of view, and use the polling method to obtain RGB images from the RGB-D camera at the same time and the D image; the grayscale of the D image pixel is the horizontal depth value of the object corresponding to the pixel from the camera in the three-dimensional environment.

[0066] (1.2) Match the field of view of the RGB image and the D image,...

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Abstract

The invention discloses a plane and barrier detection method based on an RGB-D camera and an attitude sensor, and the method achieves the environmental three-dimensional information recognition with higher resolution, higher refresh rate and higher precision based on the RGB-D camera and the attitude sensor. The method can achieve the recognition of a ground passage, the judgment and early-warning of a ground cavity and various types of barriers and the recognition of scenes of going upstairs and downstairs, and is close to the visual sensing of an environment. Through the cooperation of the attitude sensor, a whole system is more flexible and portable, and the camera does not need to keep a fixed relative position with a user or any other ground reference object. When a visually-impaired person goes out, the camera can be placed at any body part which can photograph a three-dimensional environment. A portable computer or pad compatible with the RGB-D camera can be selected by himself or herself to achieve the same function.

Description

technical field [0001] The invention belongs to the technical fields of three-dimensional environment recognition and assistance for the blind, and relates to a plane and obstacle detection method based on an RGB-D camera and an attitude sensor. Background technique [0002] Visual information is the most important source of information for humans to recognize the surrounding environment, and about 80% of the information obtained by humans is input from the visual system. For blind people who lack visual perception, traditional tools such as canes and guide dogs cannot provide them with sufficient assistance. Since the middle of the last century, many researchers have devoted themselves to the development of electronic assistive technology for the blind. The main function of electronic assistive technology for the blind is to provide access prompts and danger warnings for the visually impaired. [0003] According to the different means of detecting the three-dimensional en...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T7/70G06T2207/30244
Inventor 程瑞琦汪凯巍杨恺伦祝训敏
Owner ZHEJIANG UNIV
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