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Method, device and electronic equipment for determining distance between interaction target and robot

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

Active Publication Date: 2021-04-06
山东睿思奥图智能科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the above method 1) can obtain the distance under normal circumstances, but due to the non-rigid nature of people, it is difficult to apply to some special postures or special scenes, such as sitting, akimbo, waving, etc.; the above method 2), can The distance is given more accurately, but the complexity is high, and it is not suitable for scenes with very high real-time requirements

Method used

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  • Method, device and electronic equipment for determining distance between interaction target and robot
  • Method, device and electronic equipment for determining distance between interaction target and robot
  • Method, device and electronic equipment for determining distance between interaction target and robot

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Embodiment 1

[0039]Referfigure 1 As shown, a method step of determining the distance between the interaction target and the robot is provided for the present specification embodiment, the method comprising the steps of:

[0040]Step 102: Get an image of an interactive target in the shooting scene and a depth map aligned with the image.

[0041]Among them, the interaction target can be a person with a message interacting with a robot (hereinafter referred to as the robot), the interactive robot has a similar shape structure, for example, with head, limbs, torso, etc.

[0042]It should be understood that a processor for collecting images and a processor for processing an image is integrated on the detection robot. In particular, the interactive target can be acquired by the camera in real time, and the RGB image under shooting scene is used, and the depth map of the RGB image is also available. In particular, the existing binocular camera can be utilized to obtain a depth map of the RGB image alignment, in...

Embodiment 2

[0101]Referimage 3 As shown, a structural schematic structural diagram of the device 300 that determines the distance between the interactive target and the robot, the apparatus 300, which may include the following modules:

[0102]The module 302 is acquired to obtain an image of an interactive target in the photographing scene and a depth map aligned with the image;

[0103]The extraction module 304 is used to extract depth data in the rectangular frame region of the interaction target based on the image and the depth map;

[0104]Statistical module 306 for performing row or column scanning, counting the highest frequency in each row or each column based on the preset first tolerance;

[0105]Filter module 308; after the statistical module 306 is statistically corresponding depth data corresponding to the highest frequency in the column, the statistically obtained depth data is filtered;

[0106]The statistical module 306 is further configured to scan the filtered depth data based on the preset s...

Embodiment 3

[0126]BelowFigure 4 The electronic device of the embodiment of this specification is described in detail. Please refer toFigure 4 At the hardware level, the electronic device includes a processor, optionally also include an internal bus, a network interface, a memory. The memory may contain memory, such as high speed random access memory, may also include a non-volatile memory, such as at least 1 disk memory, or the like. Of course, the electronic device may also include the hardware required for other business.

[0127]Processors, network interfaces, and memory can be connected to each other through internal bus, which can be an industrial standard architecture, ISA bus, peripheral component interconnect, PCI boss bus or extended industry standard Extendedustry Standard Architecture, EISA Bull, etc. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of expression,Figure 4 In only one bidirectional arrow is used, it does not mean that there is...

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Abstract

The embodiment of this specification relates to a method, device and electronic equipment for determining the distance between an interactive target and a robot, including: firstly using a human body detection algorithm to determine the rectangular frame area where the interactive target is located, and then extracting the depth of the rectangular frame area from the depth map Data, and then reduce the complexity of analysis according to row scanning or column scanning, and filter the depth data obtained by scanning statistics, and then accurately determine the distance between the interactive target and the robot according to the frequency of occurrence of the filtered depth data, While ensuring real-time acquisition to determine the distance, it can also be applied to a variety of poses and scenes.

Description

Technical field[0001]Embodiments of this specification relate to artificial intelligence technology, in particular, to a method, apparatus, and electronic device that determines the distance between interactive targets and robots.Background technique[0002]With the rise of artificial intelligence, the robot has also been rapidly developed. More and more robots have begun to enter people's vision, especially as a service-type robot as a main artificial intelligence product, occupying a very important position.[0003]In the field of artificial interactive interaction, the distance between the interactive target between the entity robot and the robot affects the interactive response of the entity robot. At present, there are mainly two major categories of methods to obtain distance between interactive targets and robots: 1) Rough estimate Distance; 2) Fine calculation, removal or human modeling method, more accurately acquiring the outline information of the human body and limb informati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S11/12G06T7/50B25J11/00
CPCB25J11/0005G01S11/12G06T7/50
Inventor 刘非非
Owner 山东睿思奥图智能科技有限公司
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