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System and method for stair detection

A detection method and stair technology, applied in binocular vision technology, three-dimensional environment perception, and new stair detection system, can solve the problems of large radar volume and power consumption, unpopularity, and inability to detect, and achieve strong environmental adaptability Effect

Active Publication Date: 2022-03-18
杭州视氪科技有限公司
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

On the one hand, the blind cane can only detect the information of objects within one meter in front of it, but it cannot detect the information of the stairs beyond one meter.
Guide dogs can also help blind people travel, but guide dogs are expensive both in terms of cost and maintenance costs, and the cost is too high to be popularized, so the assistance of guide dogs also has strong limitations
[0003] At present, the detection of stairs is mostly based on the detection of color maps and depth maps and radar. The color map is useless in the dark environment, and the radar has a large volume and power consumption, which is inconvenient to make into a wearable device.

Method used

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  • System and method for stair detection

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Embodiment Construction

[0044] 1. A staircase detection system is characterized in that it includes an infrared projector, two infrared cameras, attitude angle sensors, a small processor and battery; the field angle of the two infrared cameras is Φ 1 (Φ 1 The value is 50-70°), the optical axes of the two infrared cameras are parallel and inclined downward, and the angle with the horizontal is Φ 2 , Φ 2 10-20°. The small processor controls the infrared projector to project invisible near-infrared static speckles into the 3D scene ahead, and the two infrared cameras collect the infrared images of the 3D scene ahead in real time. The attitude angle sensor obtains the attitude angle of the camera in real time, and the small processor processes the infrared image and attitude angle data to detect whether there are stairs in the three-dimensional scene ahead.

[0045] 2. A staircase detection method, characterized in that, comprises the following steps:

[0046] (1) The infrared projector projects invi...

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Abstract

The invention discloses a staircase detection method and system based on an RGB-D camera and an attitude angle sensor. The system uses an infrared projector to project invisible near-infrared static speckle, uses two infrared cameras to collect images, and uses an attitude angle sensor to obtain the attitude angle information of the camera, processes the depth information and attitude angle information in the image, and detects the Orientation, height, and distance of stairs in a square 3D scene.

Description

technical field [0001] The invention belongs to binocular vision technology and three-dimensional environment perception technology. The invention includes a new type of staircase detection system, which involves an infrared projector to project invisible near-infrared static speckles, two infrared cameras to collect images, and an attitude angle sensor to obtain the camera's attitude angle information. The depth information and attitude angle information in the image are processed to detect the stairs in the image. Background technique [0002] Blind people lack the vision that normal people have, which causes great inconvenience to their daily life and travel. Blind people need to know the specific orientation information of the stairs in the environment ahead in order to be able to walk more safely. Traditional travel tools for the blind include blind sticks and guide dogs. On the one hand, the blind stick can only detect object information within one meter in front of...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/70G06N3/04
CPCG06T7/11G06T7/70G06T2207/10012G06T2207/10048G06N3/045
Inventor 于红雷孙俊伟林龙庆
Owner 杭州视氪科技有限公司