Transformer substation inspection robot obstacle detection and recognition method integrated with depth camera
A technology for inspection robots and obstacle detection, applied in character and pattern recognition, instruments, computer components, etc., can solve problems such as low real-time performance, little obstacle information, and safety issues, and achieve rich information acquisition and reduced complexity degree, the effect of improving accuracy
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[0035] The present invention will be further described below with reference to specific embodiments.
[0036] like figure 1 and figure 2 As shown, the method for detecting and identifying obstacles for a substation inspection robot integrated with a depth camera provided by this embodiment includes five parts: preprocessing, ground point cloud removal, adaptive density clustering, obstacle identification and data conversion. This example uses the LMS-511 two-dimensional lidar launched by German SICK company, such as figure 2 As shown in the middle 2D lidar 1, the depth camera model is Microsoft's Azure-Kinect camera, such as figure 2 Medium Depth Camera 2 is shown. The specific implementation of each part is described below:
[0037] 1) Preprocessing: The internal parameters of the depth camera have been calibrated, and the RGB color image and depth image in front of the robot acquired by the depth camera are converted into point cloud images, that is, the three-dimensi...
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