Method and device for determining distance between interactive target and robot, and electronic equipment
A robot and target technology, applied in the field of artificial intelligence, can solve problems such as high complexity and unsuitable scenarios requiring real-time requirements
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Embodiment 1
[0039] refer to figure 1 As shown, it is a schematic diagram of the steps of the method for determining the distance between the interaction target and the robot provided by the embodiment of this specification. The method includes the following steps:
[0040] Step 102: Obtain an image of the interaction target in the shooting scene and a depth map aligned with the image.
[0041] Wherein, the interaction target may be a person or an interactive robot that performs message interaction with the robot (hereinafter referred to as the detection robot), and the interactive robot has a similar shape and structure as a human, such as a head, limbs, and torso.
[0042] It should be understood that a camera for collecting images and a processor for processing images are integrated on the detection robot. During specific implementation, the camera can be used to collect the RGB image of the interactive target in the shooting scene in real time, and at the same time, a depth map aligne...
Embodiment 2
[0101] refer to image 3 As shown, it is a schematic structural diagram of an apparatus 300 for determining the distance between an interaction target and a robot provided by the embodiment of this specification. The apparatus 300 may include the following modules:
[0102] An acquisition module 302, configured to acquire an image of the interactive target in the shooting scene and a depth map aligned with the image;
[0103] An extraction module 304, configured to extract the depth data of the rectangular frame area where the interaction target is located based on the image and the depth map;
[0104] A statistics module 306, configured to perform row or column scanning on the rectangular frame area based on a preset first tolerance, and count the depth data of the highest frequency in each row or column;
[0105] A filtering module 308; used to filter the statistically obtained depth data after the statistical module 306 counts the depth data corresponding to the highest fr...
Embodiment 3
[0126] Refer below Figure 4 The electronic equipment of the embodiment of this specification is introduced in detail. Please refer to Figure 4 , at the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Wherein, the memory may include a memory, such as a high-speed random-access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (Non-Volatile Memory), such as at least one disk memory. Of course, the electronic device may also include hardware required by other services.
[0127] The processor, network interface, and memory may be interconnected via an internal bus, which may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an extended industry standard Structure (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For convenienc...
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