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A 3D target recognition system and method based on laser radar and monocular vision

A laser radar, three-dimensional target technology, applied in the field of computer vision, can solve problems such as the difficulty of three-dimensional point cloud target recognition, and achieve the effect of wide applicability, robustness and high recognition rate

Active Publication Date: 2021-11-16
XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0008] The present invention provides a three-dimensional target recognition system and method based on laser radar and monocular vision, aiming to solve the problem of difficult target recognition in existing three-dimensional point clouds

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  • A 3D target recognition system and method based on laser radar and monocular vision
  • A 3D target recognition system and method based on laser radar and monocular vision
  • A 3D target recognition system and method based on laser radar and monocular vision

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Embodiment Construction

[0045] This embodiment is a 3D target recognition system applied to a robot vision system, which acquires a scene image from a monocular camera, recognizes the target and inversely calculates its spatial position in the 3D point cloud acquired by the laser radar, thereby providing the scene for the robot The spatial location information of the target.

[0046] Such as figure 1 As shown, the 3D target recognition system mainly includes the following six modules:

[0047] 1. Point cloud acquisition module. This module is responsible for acquiring the 3D point cloud of the scene from LiDAR.

[0048] 2. Image acquisition module. This module is responsible for getting the scene image from the camera.

[0049] 3. Point cloud projection module. This module is responsible for projecting the 3D point cloud of the scene acquired by the lidar. The purpose of the projection is to obtain a 2D image that can be directly matched with the subsequent modules.

[0050] 4. Image matching m...

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Abstract

The invention discloses a three-dimensional target recognition system and method based on laser radar and monocular vision, including: projecting point clouds to two-dimensional images, performing feature extraction and matching on the projected images and monocular images, calculating the projection image and monocular The projective transformation relationship between the monocular images; the target recognition and the extraction of the target area of ​​interest through the rich color information of the monocular image; the reverse calculation of the corresponding position of the target in the lidar point cloud through the transformation relationship between the lidar and the monocular Point cloud block, and finally output the spatial position information of the point cloud block. The present invention makes up for the disadvantage of difficulty in target recognition of 3D point clouds, and utilizes the mature technology of 2D image target recognition and the high-precision ranging performance of laser radar to identify and locate targets in 3D scenes.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and relates to a three-dimensional target recognition system and method based on a laser radar point cloud. Background technique [0002] As lidar technology is used in more and more fields, 3D target recognition based on lidar point cloud is also receiving more and more attention. For example, in the fields of missile guidance, satellite tracking, and robot navigation, it is necessary to use lidar to scan, identify targets and output the spatial position information of the target. Specifically, lidar is used as a sensor to identify and extract the acquired 3D point cloud target. Since the 3D point cloud acquired by lidar is disordered, noisy, and contains many missing points, it has always been a difficult problem to directly perform target recognition on the 3D point cloud. [0003] At present, the methods for 3D point cloud target extraction mainly include: target extraction method ba...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00
CPCG06V20/647G06V20/13
Inventor 曹剑中黄会敏周祚峰郭惠楠胡国良
Owner XI'AN INST OF OPTICS & FINE MECHANICS - CHINESE ACAD OF SCI
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