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Obstacle avoidance method based on combination of Yolo v4 and Tof algorithm

A combination and obstacle avoidance technology, applied in computing, computer parts, instruments, etc., can solve the problems of complex computing, small common viewing range, poor real-time performance, etc., to achieve accurate environmental perception, diverse application scenarios, and powerful functions.

Active Publication Date: 2021-01-15
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, this method has problems such as complex calculation, small common-view range, prone to ambiguity, and poor real-time performance.

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  • Obstacle avoidance method based on combination of Yolo v4 and Tof algorithm
  • Obstacle avoidance method based on combination of Yolo v4 and Tof algorithm
  • Obstacle avoidance method based on combination of Yolo v4 and Tof algorithm

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[0018] In order to make the purpose, technical solution and advantages of the present application clearer, the present application 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 application, and are not intended to limit the present application.

[0019] In one embodiment, provide a kind of obstacle avoidance method based on Yolo v4 and Tof algorithm combination, described method comprises the following steps:

[0020] Step 1, collect images of several obstacles to be identified, and mark the position of the obstacle to be identified in the image and the type of the obstacle;

[0021] Step 2, using the Yolo v4 neural network to train the images collected in step 1;

[0022] Step 3, collect the scene image of the obstacle avoidance path, and use the trained Yolo v4 neural network to identify the obstacle target and ...

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Abstract

The invention discloses an obstacle avoidance method based on the combination of Yolo v4 and a Tof algorithm, and the method comprises the following steps: collecting images of a plurality of types ofto-be-recognized obstacle targets, and marking the positions of the obstacle targets in the images and the types of the targets; training the acquired images by using a Yolo v4 neural network; acquiring a scene image of a to-be-avoided path, and identifying an obstacle target and the type thereof in the scene image by utilizing the trained neural network; solving the relative angle of the obstacle target relative to the center of the camera in the horizontal direction; detecting information of each object in the scene environment by using a laser radar; acquiring distance information of an obstacle target based on the relative angle and the information of each object; and according to the type, angle and distance information of the obstacle target, enabling a mobile platform subjected toobstacle avoidance to carry out path planning to realize obstacle avoidance motion. The Yolo v4 neural network and the Tof ranging algorithm are combined, complete obstacle information can be obtained, and effective obstacle avoidance is achieved.

Description

technical field [0001] The invention belongs to the technical field of obstacle avoidance, in particular to an obstacle avoidance method based on the combination of Yolo v4 and Tof algorithm. Background technique [0002] With the development of production technology and the popularization of automobiles, transportation problems are becoming more and more serious. Personnel and property losses caused by frequent traffic accidents require vehicles to be safe and intelligent. Therefore, intelligent vehicles aiming at realizing full automation and unmanned operation are an important research field in recent years. [0003] The existing obstacle detection and obstacle avoidance technologies mainly include: [0004] 1. In the document "Research on Autonomous Obstacle Avoidance of Indoor Mobile Robots", it is proposed to use infrared and ultrasonic waves to detect the distance information of surrounding obstacles to achieve obstacle avoidance. However, this method can only obta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06N3/04B60W30/08
CPCB60W30/08G06V20/58G06N3/045
Inventor 赵晟皓朱雨婷沈志耀周木春
Owner NANJING UNIV OF SCI & TECH
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