Depth data and 2D laser data fusion method and device and storage medium
A technology of depth data and depth image data, applied in the fusion method and device of depth data and 2D laser data, and in the field of storage media, can solve problems such as inability to avoid and inability of robots to perceive, achieve the ability to compensate for 3D obstacles in the perception space, and improve accuracy sexual effect
Active Publication Date: 2019-11-08
佳木斯市奥义智能科技有限公司
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[0003] In the navigation process, there is an important problem that the 2D laser can only scan a plane, resulting in the robot being unable to perceive and avoid objects that are not on the plane but above or below the plane
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[0051] 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.
[0052] The terms "comprising" and "having" and any variations thereof in the description and claims of the present invention and the above drawings are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in thes...
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The embodiment of the invention discloses a depth data and 2D laser data fusion method and device and a storage medium. The method comprises the following steps: performing depth data preprocessing onthe depth image data to obtain a three-dimensional pixel matrix, converting the three-dimensional pixel matrix into 3D point cloud data according to the installation position and the pitch angle of the depth camera, and superposing the laser 2D point cloud and the 3D point cloud data to the same space under the same coordinate system to complete information fusion. And the fused information can be projected on the horizontal plane according to the pitch angle to navigate the robot. By adopting the method and the system, the depth image data and the laser data are fused in the same space by combining the related parameters of the depth camera, and the robot performs navigation, so that the precision of sensing the planar obstacle can be improved, and the capacity of the robot for sensing the spatial 3D obstacle is compensated.
Description
technical field [0001] The invention relates to the technical field of navigation and obstacle avoidance, in particular to a fusion method and device of depth data and 2D laser data, and a storage medium. Background technique [0002] As the use of laser positioning and navigation by robots is becoming more and more widely used in the industry, especially the rapid development of indoor robot navigation, it is becoming more and more important to improve the sensitivity and accuracy of robot navigation. [0003] In the navigation process, there is an important problem that the 2D laser can only scan a plane, so the robot cannot perceive or avoid objects that are not on the plane but above or below the plane. Contents of the invention [0004] Embodiments of the present invention provide a depth data and 2D laser data fusion method, device, and storage medium. By combining the relevant parameters of the depth camera, the depth image data and the laser data are fused in the s...
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IPC IPC(8): G06T5/00G06T7/13G06T7/136G06T7/521G06T7/593G06K9/62
CPCG06T7/521G06T7/593G06T7/13G06T7/136G06T2207/10028G06F18/25G06T5/70
Inventor 董文锋侍启山
Owner 佳木斯市奥义智能科技有限公司