Real obstacle map construction and navigation method and system based on depth camera
A depth camera and map construction technology, applied in the field of mobile robots, can solve the problems of collision, damage to robots, inaccurate environmental maps, etc., and achieve the effect of accurate environmental maps and safe operation.
Active Publication Date: 2020-08-28
SICHUAN ARTIGENT ROBOTICS EQUIP
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However, since the laser radar can only detect obstacles on the plane where it is located, when the obstacle is lower than the laser radar plane, the obstacle cannot be detected, resulting in the inaccurate environmental map established by the robot; and when the robot navigates, Since the robot cannot find the obstacle below it, the robot may collide with the obstacle and damage the robot
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[0025] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
[0026] It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.
[0027] Please see figure 1 and figure 2 , figure 2 It is a schematic flowchart of a method for constructing and navigating a real obstacle map based on a depth camera provided by an embodiment of the present application.
[0028] After research by the applicant, it is found that through the ranging principle of laser radar and the test using real laser ra...
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The invention provides a real obstacle map construction and navigation method and system based on a depth camera. The method includes obtaining depth images of environmental obstacles at all angles through the depth camera; selecting any three pixel points, below the plane of the depth camera, of the depth image to construct a plane; calculating the outer product of each pixel point of the depth image and the unit vector of the plane to obtain a pixel point coplanar with the plane; analyzing whether the pixel points coplanar with the plane exceed a set threshold value or not; if the set threshold value is exceeded, defining the plane as a ground plane; counting the depth of each pixel point between the depth camera plane and the ground plane relative to the depth camera, and sorting to obtain the minimum distance between each angle and the obstacle; sorting the pixel points of all angles in the left-right range of the depth image to obtain a minimum obstacle distance corresponding to each pixel column at each angle; converting the depth camera data into laser data; and performing map construction according to the laser data and the acquired odometer data.
Description
technical field [0001] The present application relates to the technical field of mobile robots, in particular, to a method and system for constructing and navigating a real obstacle map based on a depth camera. Background technique [0002] At present, in order to realize the normal operation of the mobile robot in the environment, it is usually necessary to construct a map of the environment where the robot is located. The environmental map of the robot is mainly composed of a series of environmental obstacles. In order to realize the construction of the robot environment map and the navigation work after the map is established, it is necessary for the robot to be able to obtain the obstacle data in the environment. Now the mainstream obstacle map construction method is to use the laser radar sensor, which can monitor the 360-degree environment of the plane. Scanning is carried out in the center, and the purpose of measuring the distance of the surrounding obstacles is achi...
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IPC IPC(8): G01C21/00G01S11/12
CPCG01C21/005G01S11/12
Inventor 彭倍何瑜谷冀嘉
Owner SICHUAN ARTIGENT ROBOTICS EQUIP