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Door positioning method under home environment based on binocular vision target detection

A technology of binocular vision and home environment, which is applied in the field of robot vision, can solve the problems of high price, achieve flexible practical use, reduce hardware costs, and have wide application prospects

Active Publication Date: 2017-03-15
BEIJING EVOLVER ROBOTICS TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0013] The present invention proposes a door positioning method in a home environment based on binocular vision target detection. The method realizes door positioning in a home environment by using binocular vision target detection, and effectively solves the problem of using sensors and laser radars through an efficient algorithm. The defect of expensive sensor solutions such as sensors reduces the hardware cost; moreover, this method does not need to add redundant markers on the door, which is simpler and more convenient in actual operation; at the same time, this method only requires the sides of the door to The positioning of the door can be realized by appearing in the binocular field of vision, and the actual use is more flexible; this method can also realize the positioning of doors in different states in the home environment, such as closed, half-open, and fully-open doors, which have a wider range of applications. Application prospect

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  • Door positioning method under home environment based on binocular vision target detection
  • Door positioning method under home environment based on binocular vision target detection
  • Door positioning method under home environment based on binocular vision target detection

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Embodiment Construction

[0089] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0090] Such as Figure 1 to Figure 5 As shown, the process includes the following steps:

[0091] S101, the binocular vision camera (left camera and right camera) is placed on the support of a certain height from the ground, placed horizontally, receiving the image I from the two-way binocular vision camera L , I R ;

[0092] S102. Taking the principal points of the respective images of the left camera and the right camera as the center, intercept the image I respectively L The middle coordinates are The rectangular area and image I R The middle coordinates are The rectangular area of ​​(y up and y down is the upper threshold and lower threshold of the i...

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Abstract

The invention discloses a door positioning method under home environment based on binocular vision target detection. The method comprises the following steps: obtaining an image through a binocular vision camera; capturing an image and obtaining a binary image; obtaining a possible door frame line segment sequence; finding matched line segment pairs in left and right images; obtaining an optimal matched line segment pair queue through global optimal matching principle; obtaining a suspected door line pair according to distance of actual lines corresponding to the matched line segment pair; and obtaining suspected door optimal solution through the feature integral principle, and realizing door positioning. The technical scheme adopts binocular vision to identify double frames of a door through an efficient algorithm, thereby realizing door positioning under the home environment; and the method has the advantages of low cost, convenient and flexible use and wide application scene.

Description

technical field [0001] The invention relates to the field of robot vision, and is a real-time target positioning method, in particular a door positioning method in a home environment based on binocular vision target detection. Background technique [0002] In recent years, robot technology, as a high-tech, has been continuously developed and widely used in homes, offices, hospitals and factories. From industrial robots for intelligent assembly in production workshops to intelligent service robots for public services and household services, robots are getting closer and closer to our work and life. At present, emerging service robot companies and service robot application markets are also increasing, so all kinds of entertainment, rescue, and surveillance robots have gradually penetrated into all aspects of our lives. With the increasing demand for the intelligence of service robots, the requirements for intelligent technology represented by artificial recognition technology...

Claims

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Application Information

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IPC IPC(8): G06T7/70
CPCG06T2207/10004
Inventor 薛林王玉亮乔涛王巍
Owner BEIJING EVOLVER ROBOTICS TECH CO LTD
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