A real-time step detection method based on binocular camera

A binocular camera and detection method technology, applied in the fields of computer vision and machine learning, can solve the problems of large radar size, poor environmental adaptability, lack of vision, etc., and achieve strong environmental adaptability, strong anti-interference ability, and good environmental adaptability Effect

Active Publication Date: 2021-07-02
杭州视氪科技有限公司
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AI Technical Summary

Problems solved by technology

Due to the lack of normal vision, the visually impaired cannot effectively distinguish whether there are steps on the ground, which poses a threat to the travel of the visually impaired
[0003] At present, the detection of steps is mostly based on radar, but radar is large in size and consumes a lot of power, making it difficult to make wearable devices
Image-based step detection is based on the gradient of the grayscale image or the gradient of the depth. The former is affected by light changes and has poor adaptability to the environment.
The latter has high requirements on the accuracy of the depth map, and the performance of consumer-level depth cameras cannot meet its accuracy requirements.

Method used

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  • A real-time step detection method based on binocular camera
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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] The invention relates to a method for real-time detection of steps, which is realized based on a binocular camera, a nine-axis gyroscope and the like. The binocular camera is used to capture the grayscale information and depth information of the surrounding environment; the nine-axis gyroscope is used to calculate the attitude of the camera. Based on above-mentioned hardware, detection method of the present invention is as follows:

[0036] (1) Use the binocular camera to collect the grayscale image and depth image of the surrounding environment; use the nine-axis gyroscope to obtain the transformation relationship from the binocular camera coordinate system to the world coordinate system. The relative position of the nine-axis gyroscope and the camera is fixed, and the pose of the gyroscope, that is, the pose of the camera, can be calculated according to the n...

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Abstract

The invention discloses a real-time step detection method based on a binocular camera. Obtain the depth information of the image through the parallax of the two images collected by the binocular camera, and combine the nine-axis gyroscope (gravity acceleration, gyroscope, magnetometer) to reconstruct the depth information in the camera coordinate system into a three-dimensional point in the world coordinate system Cloud, segment the point cloud composed of roads and other point clouds by the plane fitting method, and then perform plane fitting on the point cloud composed of roads to judge whether the road is flat or composed of steps. The present invention can detect the upper and lower steps and the distance from the user in real time, and can help visually impaired people (blind people, people with low vision) go up and down the steps to ensure their personal safety; the present invention adopts passive detection, low power consumption, no It will interfere with others, and fully considers the interference factors that may be encountered in various practical environments, and has the advantages of fast speed, high precision, and high cost performance.

Description

technical field [0001] The invention belongs to the technical fields of computer vision and machine learning, and in particular relates to a real-time step detection method based on a binocular camera. Background technique [0002] According to the World Health Organization, there are about 285 million visually impaired people in the world, of which 39 million are totally blind. Due to the lack of normal vision, the visually impaired cannot effectively distinguish whether there are steps on the ground, which poses a threat to the travel of the visually impaired. [0003] At present, the detection of steps is mostly based on radar, but radar is large in size and consumes a lot of power, making it difficult to make it into a wearable device. Image-based step detection is based on the gradient of the grayscale image or the gradient of the depth. The former is affected by light changes and has poor adaptability to the environment. The latter has high requirements on the accura...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06T7/70G06T5/00G06N3/04
CPCG06T5/002G06T7/11G06T7/70G06T2207/10028G06T2207/20081G06N3/045
Inventor 林龙庆孙俊伟于红雷吴国伟
Owner 杭州视氪科技有限公司
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