Door identification and positioning method and system in household environment and robot

Abstract

The invention provides a door identification and positioning method and system in a household environment and a robot. The method comprises steps of acquiring first vertical line feature in a left image and second vertical line features in a right image acquired by a binocular sensor; according to the first vertical line features and the second vertical line features, extracting multiple suspecteddoors and analyzing all the suspected doors so as to acquire an effective suspected door; acquiring orientation features of the suspected doors in a world coordinate system; repeating execution of above steps so as to obtain orientation features of the effective suspected doors in the world coordinate system extracted for many times; and selecting an effective suspected door with biggest confidence coefficient from all effective suspected doors to serve as a to-be-identified door. According to the invention, the identification and positioning success rate of doors can be effectively improvedand the method and the system are easy to promote.

Description

technical field [0001] The invention relates to the technical field of robot vision, in particular to a door recognition and positioning method, system and robot in a home environment. Background technique [0002] For service robots, autonomous navigation is often a necessary capability. Although the home environment is a highly structured environment, the perception of robots in this environment is still a challenging problem. The door is a topologically marked node connecting two rooms in the home environment. The identification and positioning of the door can effectively help the robot perceive the surrounding environment structure, map construction, positioning and navigation. Therefore, the ability to identify and locate the door in the home environment is of great significance to the autonomous navigation of the robot. [0003] At present, sonar sensors or lidar sensors are usually used to study the positioning of doors in the home environment to obtain whether ther...

AI Technical Summary

Problems solved by technology

[0006] In view of this, the object of the present invention is to provide a door identification and positioning method, system and robot in the home environment, so as to alleviate the technical problem that the existing methods for door identification and positioning in the home environment are not perfect.

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