Object feature information determination method and device, electronic equipment and storage medium
A technology of feature information and determination method, applied in the field of robotics, to achieve the effect of increasing matching connections
Pending Publication Date: 2020-09-25
SHANGHAI GAOXIAN AUTOMATION TECH
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Problems solved by technology
[0003] However, the existing technology directly classifies objects only through images of objects taken by robots, or detects objects through lidar, and there is no technology involved in the matching relationship between images and real objects
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[0066] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.
[0067] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or des...
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The invention discloses a method and device for determining feature information of an object, electronic equipment and a storage medium. Visual data and a laser data set can be obtained based on the same scene; determining category information of a target object in the visual data and position information of the target object in the visual data; clustering the laser data set to obtain a pluralityof point clouds; determining a target point cloud matched with the target object from the plurality of point clouds based on the coordinates of each point cloud projection in the plurality of point clouds in the first coordinate system and the position information of the target object in the visual data; and determining category information of the target point cloud according to the category information of the target object, and determining a spatial position. On the basis of the same object, the matching relation between visual data and laser data can be increased. Meanwhile, through reasonable control and use of various sensor information, complementary information and redundant information are combined according to the optimization criterion in space and time, and more information is provided for subsequent application of multi-sensor positioning.
Description
technical field [0001] The present application relates to the field of robots, and in particular to a method, device, electronic equipment and storage medium for determining characteristic information of an object. Background technique [0002] Intelligent mobile robot is a highly intelligent device integrating environmental perception, dynamic decision-making and planning, behavior control and execution. Its rapidity and accuracy of environmental perception and multi-sensor information fusion technology Inseparable. Multi-sensor information fusion technology is that the computer makes full use of the resources of each sensor, through the reasonable control and use of various measurement information, and combines complementary and redundant information in space and time according to a certain optimization criterion, resulting in an accurate observation of the observation environment. Consistent explanations or descriptions, while generating new fusion results. In the envir...
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IPC IPC(8): G06T7/70G06T7/30G06K9/62G01S7/48G01C21/00G01C11/04
CPCG06T7/70G06T7/30G01C21/005G01C11/04G01S7/4808G01S7/4802G06T2207/10004G06T2207/10028G06F18/23
Inventor 金伟王健威沈孝通秦宝星程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH