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Obstacle recognition method and device

An obstacle recognition and obstacle technology, applied in scene recognition, character and pattern recognition, two-dimensional position/channel control and other directions, can solve the problems of low obstacle recognition efficiency, large system resource consumption, and large amount of calculation, etc. To achieve the effect of reducing the amount of calculation, improving efficiency and reducing consumption

Active Publication Date: 2017-09-19
SHANGHAI MROBOT TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved in this application is to provide an obstacle identification method and device to solve the problems of large amount of calculation, large consumption of system resources and low efficiency of obstacle identification in the process of obstacle identification

Method used

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  • Obstacle recognition method and device
  • Obstacle recognition method and device

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Embodiment approach

[0098] The first implementation mode: if the plane fitting result is to fit a space plane, according to the inclination angle of the space plane, identify the obstacle data points in the 3D point cloud data located in the space in front of the robot.

[0099] Optionally, an error threshold is preset, and the selected three-dimensional point cloud data is fitted to a plane according to the least square method, so as to obtain a space plane with a fitting error not greater than the error threshold. Of course, in addition to the least square method, algorithms such as genetic algorithm and neural network algorithm can also be used for plane fitting.

[0100] The following is the process of plane fitting according to the method of least squares:

[0101] The spatial plane expression may be z=Ax+By+C, and the spatial plane is determined by determining the coefficients A, B, and C. First, A and B can be determined according to formula (4).

[0102]

[0103] Among them, the 3D p...

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Abstract

The embodiment of the invention provides an obstacle recognition method and device. The method comprises following steps of acquiring three-dimensional point cloud data in the range that the proceeding ability of a robot is capable of reaching from three-dimensional point cloud data in the proceeding front space of the robot according to the proceeding ability parameters of the robot; carrying out plane fitting on the three-dimensional point cloud data in the range that the proceeding ability of the robot is capable of reaching so as to acquire plane fitting results; and according to the plane fitting results, recognizing obstacle data points in the three-dimensional point cloud data in the proceeding front space of the robot. According to the invention, consumption of system resources can be reduced; and obstacle recognition efficiency is improved.

Description

technical field [0001] The present application relates to the technical field of artificial intelligence, in particular to an obstacle identification method and device. Background technique [0002] With the development of intelligent robot technology, robots that can move automatically have gradually come into people's field of vision. When the robot is moving, if there is an obstacle in front of the robot, it needs to avoid the obstacle. Therefore, during the movement of the robot, it is necessary to identify whether there are obstacles ahead. [0003] In the prior art, the robot collects 3D point cloud data within the field of view of the sensor through a sensor installed on the robot, and divides the space within the field of view of the sensor into multiple grids; maps the collected 3D point cloud data to multiple grids. In each grid, each grid will include multiple 3D point cloud data; then, plane fitting is performed on the 3D point cloud data in each grid to obtain...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06K9/00
CPCG05D1/024G05D1/0251G05D1/0257G06V20/10G06V20/58
Inventor 蒋化冰张海涛马晨星张俊杰谭舟王振超梁兰徐志强严婷郦莉
Owner SHANGHAI MROBOT TECH CO LTD
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