Indoor target detection method and device
A target detection and target technology, applied in the field of image processing, can solve problems such as difficult to solve the influence of light and shadow, easy to cause misunderstanding, easy to miss detection, etc., to achieve the effect of improving detection effect, improving accuracy, and increasing detection speed
Active Publication Date: 2017-03-15
SHENZHEN LDROBOT CO LTD
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However, a pure monocular color image is fundamentally difficult to solve the influence of light and shadow, which is easy to cause misunderstanding, and when the color of the character is similar to the color of the background, it is easy to miss detection
Similarly, a simple depth map is also prone to missed detection when the characters and the background are close together.
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[0098] As a specific implementation manner, the above fusion module 200 may specifically include:
[0099] a preprocessing unit, configured to preprocess the depth image information and the color image information respectively, and obtain gradients within a preset window;
[0100] a weight determination unit, configured to determine the weight according to the gradient strength of the depth image information and the color image information;
[0101] A fusion unit is configured to fuse the depth image information and the color image information by using the weights to obtain fused image information.
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The invention discloses an indoor target detection method and device. Depth image information and color image information of an indoor target are acquired; the depth image information and the color image information are fused by using the weight of the depth image information and the color image information so that the fused image information is obtained; and the fused image information is detected so that the detection result is outputted. According to the indoor target detection method and device, the color image and the depth image are combined, and the weights of the color image and the depth image are self-adaptively adjusted to be fused so that respective defects can be effectively compensated and the detection effect can be greatly enhanced. The indoor target detection method and device can be applied to embedded equipment real-time figure detection.
Description
technical field [0001] The invention relates to the technical field of image processing, in particular to an indoor object detection method and device. Background technique [0002] In security monitoring, passenger flow statistics, smart cameras, robots and other fields, many applications revolve around "people", so the detection of people is naturally indispensable. In addition, in the field of computer vision and image processing technology, the detection of people has always been a hot and difficult point in the academic circle. [0003] Many current detection methods use monocular color images or depth images. However, a pure monocular color image is fundamentally difficult to solve the influence of light and shadow, which is easy to cause misunderstanding, and when the color of the character is similar to the color of the background, it is easy to miss detection. Similarly, a simple depth map is also prone to missed detection when the characters and the background ar...
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IPC IPC(8): G06T7/73G06K9/62
CPCG06T2207/20081G06T2207/10012G06T2207/10024G06T2207/20221G06F18/24
Inventor 郭盖华
Owner SHENZHEN LDROBOT CO LTD
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