RGB-D video based robot target recognition and localization method and system
A target recognition and robot technology, which is applied in the field of robot target recognition and positioning, can solve the problems that there is no systematic RGB-Depth video target recognition and precise positioning method, the complexity of the robot's working scene, and the high computational complexity, so as to achieve the enhanced spatial level Sensitive ability, guarantee of identity and relevance, high accuracy of recognition and positioning
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[0042] Such as figure 1 Shown is a schematic diagram of the overall flow of the method of the embodiment of the present invention. From figure 1 It can be seen that this method includes two major steps: target recognition and target precise positioning, and target recognition is a prerequisite for precise target positioning. The specific implementation is as follows:
[0043] (1) Obtain the RGB-D video frame sequence of the scene where the positioning target to be identified is located;
[0044] Preferably, in an embodiment of the present invention, the RGB-D video sequence of the scene where the positioning target is to be identified can be collected by a depth vision sensor such as Kinect; RGB image pairs can also be collected by a binocular imaging device, and disparity estimation can be calculated The scene depth information is used as the depth channel information to synthesize RGB-D video as input.
[0045] (2) Extract the key video frames in the RGB-D video frame sequence, e...
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