A fast ranging method for multi-moving targets based on machine vision

Abstract

The invention relates to a machine vision-based fast distance measuring method for multiple moving targets. This method firstly fits the ground truth box and the actual distance in the image training set, and saves the ranging model, and then uses the real-time detection algorithm SSD (Single Shot MultiBox Detector) to detect the detection box (Bounding Truth Box) generated by the specific target. Box) to extract the altitude and input it into the distance measurement model, so as to obtain the measurement distance of multiple targets in real time. The multi-moving target rapid identification and distance measurement method proposed by the present invention can identify and range specific multiple targets efficiently and in real time. Compared with other ETA ranging systems, it is more suitable for the blind and more practical. It has a better application prospect and practical engineering application value.

Description

technical field [0001] The invention relates to a machine vision-based fast distance measuring method for multiple moving targets. Background technique [0002] Today, there are 75 million visually impaired people in our country, whose life and travel are greatly troubled by their visual impairment. The emergence of the Electronic Travel Aids (ETA, Electronic Travel Aids) system to help the blind has brought great convenience to the blind. Among them, obstacle detection and distance measurement are the key technologies in the ETA system, and the accuracy and real-time performance of detection and recognition are the measures. An important symbol of the practicability of the ETA system is also a difficult problem to be solved urgently. [0003] In the past non-computer vision fields, most of them used laser, infrared, and ultrasonic ranging methods. However, its ranging distance is short, the beam is narrow, obstacles cannot be identified, and multiple targets can only be d...

AI Technical Summary

Problems solved by technology

In addition, other existing ETA systems based on machine vision still rely on an additional rangefinder for distance measurement, and cannot simultaneously measure distances for multiple moving targets

Aiming at the deficiencies of the existing ETA system, the present invention solves the real-time and recognition problems in the core detection and distance measurement module in ETA from the new angle of combining target detection algorithm and regression distance measurement

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