Depth estimation method, device and equipment based on monocular camera

A monocular camera and depth estimation technology, which is applied in the field of depth estimation based on monocular camera, can solve the problems of accuracy and effectiveness, inaccurate depth estimation, and inability to ensure the correspondence between visual descriptors and depth descriptors. The effect of accurate depth information

Active Publication Date: 2019-05-28
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a depth estimation method, device and equipment based on a monocular camera to solve the problem that the depth information acquisition method in the prior art cannot ensure that the correspondence between visual descriptors and depth descriptors is accurate and effective , which may cause inaccurate depth estimation

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  • Depth estimation method, device and equipment based on monocular camera
  • Depth estimation method, device and equipment based on monocular camera
  • Depth estimation method, device and equipment based on monocular camera

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Embodiment Construction

[0041] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0042] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0043] Such as figure 1 Shown is the implementation process of a depth estimation method based on a monocular camera provided by the embodiment of the present application, including:

[0044]In step S101, semantic segmentation is performed on the picture acquired by t...

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Abstract

A depth estimation method based on the monocular camera comprises the following steps: carrying out semantic segmentation on a picture acquired by a monocular camera; extracting the picture pieces andsegmenting the picture pieces into N sub-pictures, so that each sub-picture comprises the extracted key points; key point, obtaining a plurality of sub-pictures, estimating the visual depth and / or the normal vector of a plane corresponding to each sub-picture, searching an outlier according to the visual depth and / or the normal vector of the plane corresponding to each sub-picture, correcting a semantic segmentation result according to the searched outlier, and determining the depth information of the picture according to the corrected semantic segmentation result. And the determined depth information is more accurate.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a depth estimation method, device and equipment based on a monocular camera. Background technique [0002] Autonomous mobile robot navigation technology is an important research direction in the field of intelligent robots, and the visual navigation method has the advantages of large amount of information, high flexibility, and low cost. Simultaneous positioning and mapping technology of robot vision is a key basic technology of mobile robots, flying robots and other robotic systems, and has indispensable characteristics. For robot systems used in large scenes (such as airports, indoor plazas, urban buildings, etc.), due to the characteristics of large spatial scales, infrequent or often no GPS signals, and many spatial planes, the use of the environment makes its visual depth estimation difficult. Has a certain degree of difficulty. [0003] One of the current depth estimatio...

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Application Information

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IPC IPC(8): G06T7/50G06T7/11G06T5/10G06K9/46
Inventor 熊友军刘志超赵勇胜
Owner UBTECH ROBOTICS CORP LTD
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