Target following method and device
A target and identification technology, applied in the field of computer vision, can solve problems such as algorithm complexity, manpower, time and computing resource consumption, and achieve the effect of improving training efficiency, reducing labor cost and time cost loss, and reducing computing resource consumption.
Active Publication Date: 2021-05-11
北京易达图灵科技有限公司
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[0005] Embodiments of the present invention provide a method and device for following a target to solve the problem that the existing target following method needs to manually label target detection data and the algorithm is complex, resulting in a large amount of manpower, time and computing resource consumption
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[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0023] In existing target following methods, following target detection and obstacle detection are performed independently. Before performing follow-up target detection, it is necessary to manually label a large amount of target detection data for model training, which is a huge workload. However, the stereo vision technology used in the obstacle...
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An embodiment of the present invention provides a target following method and device, wherein the method includes: acquiring a current image based on a visual sensing device installed on the following device; inputting the current image into a target following model, and obtaining the current action command output by the target following model; Among them, the target following model is trained based on sample images, sample action instructions and sample identification; based on the current action instruction, the follower device is controlled to perform target following. The method and device provided by the embodiments of the present invention consume less computing resources, are simple and convenient, and can realize the real-time output of the current action command without additional acceleration equipment, which improves the safety and real-time performance of the following equipment, and avoids delays due to delays. The problem of following the target caused by losing track. In addition, in the process of model training, there is no need to manually mark the following targets, and only need to evaluate the results of target following and obstacle avoidance through sample identification, which reduces labor costs and time costs, and improves model training efficiency.
Description
technical field [0001] Embodiments of the present invention relate to the technical field of computer vision, and in particular, to a method and device for following a target. Background technique [0002] Target following has a very wide range of research and applications in many fields such as visual navigation, behavior recognition, intelligent transportation, environmental monitoring, battlefield reconnaissance and military strikes. [0003] The existing target following method needs to judge whether there is an obstacle ahead and obtain the relative position of the obstacle while detecting and identifying the following target. Immediately based on the target detection results and obstacle detection results, action planning is performed to achieve the purpose of following. Among them, the detection and recognition of following targets is usually realized by deep learning method, and the detection of obstacles is usually realized based on stereo vision technology. [00...
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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/10G06F18/214
Inventor 尚云刘洋华仁红王毓玮冯卓玉
Owner 北京易达图灵科技有限公司