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Obstacle detection system and method based on depth information

A technology of obstacle detection and depth information, applied in the field of depth information obstacle detection system, can solve the problems of long detection time and complicated acquisition of depth map information, achieve effective detection, improve effectiveness and real-time performance, and reduce impact.

Active Publication Date: 2019-07-30
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

This method has the problems of complex acquisition of depth map information and long detection time, and is not suitable for applications that require high convenience and practicability.

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  • Obstacle detection system and method based on depth information
  • Obstacle detection system and method based on depth information
  • Obstacle detection system and method based on depth information

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Embodiment Construction

[0040] The technical solutions in the embodiments of the present invention will be described clearly and in detail below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0041] The technical scheme that the present invention solves the problems of the technologies described above is:

[0042] An obstacle detection system based on depth information is characterized in that it includes: a data interface module, an image information preprocessing module, an obstacle information feature extraction module, a descriptor calculation module and a descriptor matching module. Wherein, the data interface module includes a color information interface component and a depth information interface component, the color information interface is used to obtain the color image information of the environment from the data acquisition device, and the depth information interface component is u...

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Abstract

The invention discloses an obstacle detection system and method based on depth information, and mainly relates to the field of computer vision. The method comprises the following steps of firstly, collecting image information of the environment through a depth camera, and obtaining point cloud information of the environment and objects in the environment through the device; filtering the acquireddepth point cloud information, removing noise points and useless points in the image, and carrying out plane fitting on the acquired depth map; determining a preliminary point cloud set of the obstacle according to the depth map and the plane fitting result; extracting feature points of the point cloud information, and calculating descriptors of the feature points; and performing feature matchingon the descriptor of the scene and the descriptor of the target object to obtain an obstacle detection result in the scene. The method is not affected by environmental changes, color elements are added for detection according to the characteristics of the sensor, and the obstacle detection accuracy is improved.

Description

technical field [0001] The invention belongs to the field of digital image processing, and specifically relates to a depth information obstacle detection system and method using a real-sensing camera capable of obtaining depth images as a data acquisition device. Background technique [0002] In recent years, with the rapid development of various technologies such as computers, artificial intelligence and pattern recognition, robots have gradually become popular in all walks of life. From the country's aerospace work to the people's home life, robots are slowly penetrating into our lives, and the research on robots is gradually developing from a fixed working mode to the direction of artificial intelligence autonomous operations, and autonomous mobile robots based on visual sensors It has also become a research hotspot. Obstacle detection is one of the important steps in analyzing environment information in mobile robot navigation. In the past, researchers installed sensor...

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Application Information

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IPC IPC(8): G06T7/50G06T7/00
CPCG06T7/50G06T7/0002G06T2207/10028G06T2207/10024G06T2207/20164G06T2207/20192
Inventor 李红波周雄才吴渝
Owner CHONGQING UNIV OF POSTS & TELECOMM
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