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Laser data recognition method and device, robot and storage medium

A data recognition and laser technology, applied in the field of robotics, can solve the problems of sparse laser data and too little information in robots, and achieve the effect of enhancing understanding ability and enriching information content

Active Publication Date: 2018-10-26
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a laser data recognition method, device, robot and storage medium to solve the technical problem in the prior art that the laser data collected by the laser device is too sparse, so that the robot obtains too little information

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  • Laser data recognition method and device, robot and storage medium
  • Laser data recognition method and device, robot and storage medium
  • Laser data recognition method and device, robot and storage medium

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Embodiment 1

[0036] figure 1 It is a flow chart of a laser data recognition method provided by Embodiment 1 of the present invention. The laser data recognition method provided in this embodiment can be executed by a laser data recognition device, which can be realized by means of software and / or hardware and integrated into a robot. Among them, a robot refers to a machine device that can perform work automatically. It can not only accept human command, but also run pre-programmed programs, and can also act according to principles and programs formulated with artificial intelligence technology, such as moving cars.

[0037] Specifically, refer to figure 1 , the laser data recognition method provided in this embodiment specifically includes:

[0038] S110. Acquire laser data collected by the laser device and image data collected by the camera device.

[0039] In this embodiment, the robot is equipped with a laser device and an imaging device. Wherein, the laser device may be a 2D lidar...

Embodiment 2

[0055] figure 2 It is a flow chart of a laser data recognition method provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments. In an embodiment, the recognition result includes: an object name of the object in the object image and a first probability value representing the accuracy of the object name.

[0056] Specifically, refer to figure 2 , the laser data recognition method provided in this embodiment specifically includes:

[0057] S201. Obtain laser data collected by a laser device and image data collected by a camera device.

[0058] S202. Recognize the image data to determine the object image, and obtain an object detection frame used to calibrate the object in the object image and at least two candidate recognition results corresponding to the object image.

[0059] Specifically, the target detection algorithm of the YOLO V2 version is used for image recognition to obtain the object detection ...

Embodiment 3

[0115] Figure 14 It is a schematic structural diagram of a laser data recognition device provided by Embodiment 3 of the present invention. refer to Figure 14 , the laser data recognition device provided in this embodiment specifically includes: a data acquisition module 301 , an image recognition module 302 and a label addition module 303 .

[0116] Wherein, the data acquisition module 301 is used to obtain the laser data collected by the laser device and the image data collected by the camera device; the image recognition module 302 is used to determine the recognition result of the object image in the image data; The result adds object labels to the point cloud data corresponding to the object image in the laser data.

[0117] The technical solution provided in this embodiment solves the problem of laser The laser data collected by the device is too sparse, which makes the robot get too little information. By adding a camera device, the robot's ability to understand th...

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Abstract

The invention discloses a laser data recognition method and device, a robot and a storage medium, and relates to the technical field of robots. The laser data recognition method concretely comprises the steps that the laser data acquired by the laser device and the image data acquired by an image photographing device are acquired, wherein the laser device and the image photographing device have the identical acquisition space; the recognition result of the object image in the image data is determined; and an object tag is added for the point cloud data corresponding to the object image in thelaser data according to the recognition result. With application of the scheme, the technical problem of excessively low information amount obtained by the robot because of the excessively sparse laser data acquired by the laser device in the prior art can be solved so that the comprehending capacity of the robot for the external environment can be enhanced, the semantic object tag can be added for the laser data, the information content included in the laser data can be enriched and the accuracy of performing navigation and positioning by subsequently using the laser data of the robot can beenhanced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a laser data recognition method, device, robot and storage medium. Background technique [0002] A robot with mobile function is a kind of robot system that can perceive the environment and its own state through sensors, and realize the goal-oriented autonomous navigation movement in the environment with obstacles, so as to complete the predetermined task. Usually, the robot is equipped with a laser device, such as a 2D lidar. Laser devices can determine the distribution of objects in the surrounding environment through the emitted and received laser data, and are usually used in scenarios such as robot positioning, indoor and outdoor scene reconstruction, and surveying and mapping. However, in the process of realizing the present invention, the inventor found that the existing technology has the following defects: the laser data collected by the laser device is too sparse, so th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0248
Inventor 谢琨曹军
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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