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barrier perception method based on an RGB-D camera

A technology of obstacles and RGB images, applied in the field of computer vision, can solve the problems of inability to meet the application requirements of mobile robot navigation, poor real-time performance, and large amount of calculation, and achieve the effects of low cost, improved adaptability, and strong real-time performance

Active Publication Date: 2019-05-24
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

Existing obstacle perception methods based on computer vision generally have the disadvantages of large amount of calculation and poor real-time performance, which cannot meet the needs of navigation applications when mobile robots perform tasks

Method used

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Embodiment

[0029] Such as figure 1 , figure 2 , Figure 3(a)-Figure 3(d) and Figure 4 As shown, an obstacle perception method based on RGB-D camera, the optimal threshold value of the depth image can be obtained by the maximum between-class variance method, and the background and target in the depth image can be roughly segmented according to the threshold value, and then according to the needle The hole camera model can calculate the three-dimensional space coordinates of the scene points corresponding to each pixel on the image, and set a height threshold. For the scene points below the threshold, they are all considered as ground interference areas, which are directly removed, and then use The opening operation in the morphological operation removes the noise, the closing operation is used to fill the speckle in the obstacle, and the Graham's Scan method is used to perform the convex hull operation on the obstacle to obtain information such as the position and size of the obstacle...

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Abstract

The invention discloses a barrier perception method based on an RGB-D camera. The method comprises the following steps of adopting RGB-B camera to collect RGB and depth images of an object and calculating world coordinates of a three-dimensional space corresponding to pixel coordinates of object imaging according to the pinhole camera model; separating a background by adopting a maximum between-cluster variance method and removing the background; Removing ground interferents based on the geometric model;performing speckle removal on the depth image by adopting morphological operation; and solving convex hulls of all obstacles by adopting a Grahams Scan method to obtain information such as positions and sizes of the obstacles. A CamShift algorithm is adopted to track an obstacle, the observation value of the pose of the obstacle is obtained, the predicted value of the pose is obtained according to the speed of the obstacle, the pose of the obstacle is subjected to optimal estimation byapplying a Kalman filtering algorithm, and the speed of the obstacle is estimated according to the optimized pose. The method has high real-time performance and applicability.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to an obstacle perception method based on an RGB-D camera. Background technique [0002] The working environment of mobile robots is usually uncertain and unstructured. Mobile robots need to realize the perception of the external environment in order to obtain external environmental information and complete path planning, and finally realize safe navigation. Existing obstacle perception methods based on computer vision generally have the disadvantages of large amount of calculation and poor real-time performance, which cannot meet the needs of navigation applications when mobile robots perform tasks. RGB-D camera is a new visual sensor in recent years. Compared with traditional lidar and ultrasonic sensors, RGB-D camera is cheap and can provide rich information. It can be used to simultaneously acquire optical images of the surrounding environment and The position information of obje...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/215G06T7/70
CPCY02T10/40
Inventor 吴玉香郭泽辉
Owner SOUTH CHINA UNIV OF TECH
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