Target object detection method, device, robot and storage medium
A technology of target objects and detection methods, which is applied in the field of robot detection and can solve the problems of low accuracy
Active Publication Date: 2021-09-14
SHANGHAI GAOXIAN AUTOMATION TECH
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Problems solved by technology
[0005] The invention provides a detection method, device, robot and storage medium of a target object to solve the technical problem of low accuracy of the current detection method
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[0080] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
[0081] figure 1 It is a schematic diagram of an application scenario of a method for detecting a target object provided by an embodiment of the present invention. Such as figure 1 As shown, when the robot 11 is moving, for example, when the robot 11 is autonomously navigating in a known map, it needs to detect target objects in the surrounding environment so that the robot can react in time and avoid them in advance. The target object in this embodiment may be a road obstacle 12 in the surrounding environment. ...
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The invention discloses a target object detection method, device, robot and storage medium. The method includes: determining the current first position information of the visual target object collected by the visual acquisition device at the current sampling moment, and determining the current first position information of the radar at the current sampling time. The current second position information of the target object in the point cloud data collected at the sampling time, determine the first position information of the current target and the corresponding second position information of the current target that meet the matching conditions, if the first position information of the current target is consistent with the tracking unit If the target tracking information in meets the matching condition, the associated parameters of the target tracking information will be updated. If the updated associated parameters of the target tracking information are greater than the preset associated parameter threshold, the second position of the current target corresponding to the first position information of the current target will be The information is determined as the final position information of the target object. The target object detection method improves the accuracy and robustness of target object detection.
Description
technical field [0001] The embodiments of the present invention relate to the technical field of robot detection, and in particular, to a method, device, robot and storage medium for detecting a target object. Background technique [0002] With the continuous development of computer technology, the development and perfection of robot sensor equipment and the popularization of robot operating systems, the trend of machine substitution is coming. The detection technology during robot movement is to analyze and calculate a series of sensor data to obtain the position of the target object, so that the robot can respond in time and avoid it in advance. Robust and accurate detection capability is one of the core technologies of robots and the basic requirement for autonomous navigation of robots. [0003] At present, when the robot detects while moving, it can fuse the point cloud data collected by the lidar and the image collected by the image acquisition device. Specifically, B...
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IPC IPC(8): G06T7/246G01S17/66G01S17/86G01S17/06G01S13/86G01S13/72G01S13/06
CPCG01S13/06G01S13/726G01S13/865G01S17/06G01S17/66G06T2207/10028G06T2207/10044G06T2207/20081G06T2207/20084G06T7/246G01S17/86
Inventor 沈孝通张伟义秦宝星程昊天
Owner SHANGHAI GAOXIAN AUTOMATION TECH