Door recognition and positioning method, system and robot in home environment

Abstract

The invention provides a door recognition and positioning method, system and robot in a home environment, by extracting the first vertical line feature in the left image and the second vertical line feature in the right image collected by the binocular sensor; according to the first vertical line feature and the second vertical line feature to extract multiple suspected doors, and analyze all suspected doors to obtain effective suspected doors; obtain the orientation characteristics of effective suspected doors in the world coordinate system; repeat the above steps to obtain effective suspected doors extracted multiple times. The orientation characteristics of the suspected door in the world coordinate system; the effective suspected door with the highest confidence is selected from all effective suspected doors as the door to be identified. The method can effectively improve the success rate of identifying and locating the door, and is convenient for popularization.

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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