Obstacle detection method, obstacle detection device and robot

A technology for obstacle detection and robotics, applied in the field of image vision, to achieve the effects of high cost performance, accurate detection effect, and strong illumination adaptability

Inactive Publication Date: 2017-09-22
BEIJING EVOLVER ROBOTICS CO LTD
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Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide an obstacle detection method, device and robot to solve the obstacle detection me

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  • Obstacle detection method, obstacle detection device and robot
  • Obstacle detection method, obstacle detection device and robot
  • Obstacle detection method, obstacle detection device and robot

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[0023] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of the embodiments of the present invention, not all the embodiments. The components of the embodiments of the present invention generally described and illustrated in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those sk...

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Abstract

The invention provides an obstacle detection method, an obstacle detection device and a robot. The method and the device are applied to the robot provided with a binocular sensor. The method comprises steps: a left image and a right image photographed by the binocular sensor arranged on the robot towards the outer part of the robot are acquired; with the left image and the right image as reference respectively, feature points in the left image and feature points in the right image are matched, and a first matching point pair set and a second matching point pair set are obtained; according to overlapped feature point pairs in the first matching point pair set and the second matching point pair set, a matched feature point pair between the left image and the right image is determined; and according to distance measurement parameters of the binocular sensor and the safety movement range of the robot, whether the actual position point corresponding to the matched feature point pair is an obstacle is judged. Thus, the problems that an obstacle detection method applied to the robot in a related technology is hard to acquire balance between obstacle detection accuracy and cost performance can be solved.

Description

technical field [0001] The present invention relates to the field of image vision technology, in particular to an obstacle detection method, device and robot. Background technique [0002] In recent years, robot technology, as a high-tech, has been continuously developed, and robots have become closer and closer to our lives. For robots, autonomous navigation is usually a necessary function, and obstacle detection capability is of great significance to the autonomous navigation of robots. [0003] In related technologies, commonly used obstacle detection sensors for robots include ultrasonic sensors and laser radars. The obstacle detection method based on the ultrasonic sensor has a high error rate when detecting obstacles and cannot perform accurate positioning; although the obstacle detection method based on the laser radar can accurately locate obstacles, its cost performance is low and it is difficult to popularize and apply it on robots. [0004] It can be seen that i...

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Application Information

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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/47G06V10/757
Inventor 王玉亮薛林唐义华王巍
Owner BEIJING EVOLVER ROBOTICS CO LTD
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