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A method and apparatus for closed-loop detection of scene pictures based on depth information

A deep information, closed-loop detection technology, applied in the field of intelligent navigation, can solve problems such as troublesome implementation, can only be applied to trained scenes, re-training, etc., to avoid the effect of mismatching

Active Publication Date: 2018-12-25
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0012] The purpose of the embodiments of the present invention is to provide a method and device for closed-loop detection of scene pictures based on depth information, so as to solve the problem that if the scene of robot navigation is changed in the prior art, retraining is required, which is cumbersome to implement, and can only be applied Technical issues in trained scenarios

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  • A method and apparatus for closed-loop detection of scene pictures based on depth information

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[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0070] Aiming at the problem in the prior art that if the scene of robot navigation is changed, retraining is required, which is cumbersome to implement, and can only be applied to the trained scene, the embodiment of the present invention provides a method for closed-loop detection of scene pictures based on depth information , by obtaining the depth image data and color image data of the scene picture of the navigation, based on the fluctuation amplitude of t...

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Abstract

The embodiment of the invention provides a method and a device for performing closed-loop detection on a scene picture based on depth information. The method comprises the following steps: acquiring depth image data and color image data of a navigation scene picture; performing feature extraction on the color image data to obtain features in the color image data; determining a fluctuation amplitude of depth information in adjacent depth image frames; determining the presence of a moving object based on a fluctuation amplitude of depth information in the adjacent depth image frame; removing thefeatures in the color image data, and the moving object removes the error features introduced in the scene picture of the navigation to obtain the features in the color image data after removing theerror features; a closed loop detection being performed based on features in the color image data after removing the erroneous features.

Description

technical field [0001] The invention relates to the technical field of intelligent navigation, in particular to a method and a device for performing closed-loop detection on a scene picture based on depth information. Background technique [0002] In recent years, with the increasing demand for robots, robots have gradually developed rapidly in the service industry, and intelligent navigation of robots has become one of the current research hotspots. At present, the navigation technology adopted by robot intelligent navigation is also quite diverse. However, SLAM (Simultaneous Localization and Mapping, simultaneous positioning and mapping) technology, as one of the mainstream technologies of visual navigation in robot intelligent navigation, realizes robot intelligent navigation. [0003] The implementation process of SLAM technology will solve three problems, one of which is called mapping. In the process of solving this problem, closed-loop detection will be performed on...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/579G06K9/00G06K9/46G06K9/62
CPCG06T7/579G06T2207/10028G06T2207/10024G06T2207/10016G06T2207/20081G06V20/10G06V10/462G06F18/22
Inventor 邓中亮焦继超吴奇苑立彬袁华宇莫耀凯章程
Owner BEIJING UNIV OF POSTS & TELECOMM
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