Method for high-precision detection of moving target under camera moving condition
A moving target and motion detection technology, applied in the field of mobile robots, can solve the problem of low detection accuracy of moving targets
Active Publication Date: 2020-10-23
CHENGDU UNIV OF INFORMATION TECH
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[0014] The technical problem solved by the solution provided according to the embodiment of the present invention is that the detection accuracy of the moving target is low under the condition of camera movement
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[0067] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described below are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0068] figure 1 It is a flow chart of a method for detecting a moving target with high precision under the condition of camera movement provided by an embodiment of the present invention, as shown in figure 1 shown, including:
[0069] Step 1: during the movement of the mobile robot, the binocular stereo camera arranged on the mobile robot obtains the current t-1th frame image and t frame image by collecting the current scene image;
[0070] Step 2: Using the improved background optical flow compensation difference method, calculate the first candidate moving target set containing M candidate moving targets in the t-1th frame image and the t frame image;...
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The invention discloses a method for high-precision detection of a moving target under a camera moving condition, and the method comprises the steps: obtaining a current (t-1) th frame image and a tthframe image by collecting a current scene image through a binocular stereo camera disposed on a mobile robot during the movement of the mobile robot; calculating a first candidate moving target set containing M candidate moving targets in the (t-1) th frame of image and the tth frame of image by using an improved background optical flow compensation difference method; adopting a pedestrian and vehicle detection algorithm based on YOLOv3 to calculate a second candidate moving target set containing N candidate moving targets in the tth frame of image; determining an initial credible moving target set according to the first candidate moving target set and the second candidate moving target set; and utilizing the first candidate moving target set, the second candidate moving target set and the initial trusted moving target set to obtain a trusted moving target set.
Description
technical field [0001] The invention relates to the technical field of mobile robots, in particular to a method for detecting a moving target with high precision under the condition of camera movement. Background technique [0002] The detection of dynamic obstacles in the working environment is a task that many mobile robots must complete in environmental perception. For example, an unmanned vehicle needs to perceive moving objects within its driving range to provide a basis for unmanned vehicle decision-making and path planning; a shopping guide robot needs to know moving objects within its working range, so that the robot can effectively avoid obstacles and avoid accidents . These problems can be summarized as moving object detection under the condition of camera movement, so this problem is the basic problem of environment perception in the field of mobile robots. [0003] It should be noted that for the detection of moving targets, the existing mainstream technologies...
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IPC IPC(8): G06T7/20G06T7/136
CPCG06T7/20G06T7/136G06T2207/10016G06T2207/20228G06T2207/20084G06T2207/30196G06T2207/30248
Inventor 袁建英刘甲甲吴思东许林漆军付克昌蒋涛
Owner CHENGDU UNIV OF INFORMATION TECH