Obstacle detection method and device and storage device
A technology of obstacle detection and detection method, which is applied in the field of intelligent robots, can solve problems such as the inability to achieve effective detection of obstacles, and achieve the effect of reducing deployment costs
Active Publication Date: 2020-03-20
UBTECH ROBOTICS CORP LTD
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In the prior art, obstacle detection is mainly performed through multi-sensor information fusion. In reality, multi-dimensional single-line laser radars are generally used in unmanned vehicles to achieve obstacle detection by information fusion of multi-plane detection. Two-dimensional laser radar multi-horizontal plane networking and other forms realize the multi-horizontal plane two-dimensional detection of unmanned vehicles, but it is still unable to realize the effective detection of obstacles in the three-dimensional space.
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[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0020] see figure 1 , figure 1 It is a schematic flowchart of an embodiment of the obstacle detection method of the present application.
[0021] The obstacle detection method provided by this application is used to detect the existence of various planes and obstacles in the three-dimensional environment in real time. The detection method extracts the ground plane information in the three-dimensional environment and proposes the ground plane info...
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The invention discloses an obstacle detection method and device and a storage device. The method includes the steps of acquiring three-dimensional point cloud data of a current frame of a depth image;extracting a ground plane from the three-dimensional point cloud data; extracting multiple obstacle points from the three-dimensional point cloud data, wherein the distance between each obstacle point and the ground plane is larger than a preset threshold; and conducting processing with three-dimensional point cloud data of the obstacle points to obtain simulated two-dimensional data of an obstacle. In this way, the method can provide input data for real-time path planning of a navigation decision-making system of a robot and also can significantly reduce the deployment cost of a navigation scheme of the robot.
Description
technical field [0001] The present application relates to the technical field of intelligent robots, in particular to an obstacle detection method, device and storage device. Background technique [0002] Obstacle detection is an extremely important technology in the field of mobile robots. Mobile robots generally obtain detection data through sensors, process and analyze them, and obtain detection results. In the prior art, obstacle detection is mainly performed through multi-sensor information fusion. In reality, multi-dimensional single-line laser radars are generally used in unmanned vehicles to achieve obstacle detection by information fusion of multi-plane detection. Two-dimensional lidar multi-horizontal plane networking and other forms realize the multi-horizontal plane two-dimensional detection of unmanned vehicles, but it is still unable to realize the effective detection of obstacles in the three-dimensional space. Contents of the invention [0003] This applic...
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Login to View More IPC IPC(8): B25J9/16G06T7/66G06T7/73
CPCB25J9/1666G06T2207/10028G06T7/66G06T7/73
Inventor 熊友军毕占甲
Owner UBTECH ROBOTICS CORP LTD