Obstacle visual detection method based on FIRA platform

A visual detection and obstacle technology, applied in image data processing, special data processing applications, instruments, etc., can solve the problems of low detection accuracy and slow speed, and achieve high detection accuracy, reduce dependence, and fully utilize the effects.
CN113269838AActive Publication Date: 2021-08-17XI AN JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
XI AN JIAOTONG UNIV
Publication Date
2021-08-17

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Abstract

The invention discloses a visual obstacle detection method based on an FIRA platform, and the method comprises the steps: image preprocessing: carrying out the graying processing and corrosion expansion operation of an input image; extraction of a longitudinal obstacle: filtering out pixels to which the obstacle belongs from the preprocessed image, and extracting the position of the obstacle corresponding to each column of pixels by counting the number of each column of pixels; obstacle segmentation: performing column direction scanning operation according to the extracted entity coordinates corresponding to the pixels in each column, judging whether the columns belong to the same obstacle or not, and judging the shielding relationship between adjacent obstacles; exception processing: performing exception processing on the result of preliminary obstacle segmentation, extracting side-by-side obstacles with overlong width, then segmenting the midpoint into two obstacles, extracting obstacles at the edge of the picture, and determining the positions of the obstacles through side edge vertexes; and outputting a result. According to the method, environmental geometric information and a camera imaging principle are fully utilized, and the computing resource requirement is greatly reduced under the condition that the precision requirement is met.
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Description

technical field

[0001] The invention belongs to the field of robot motion control, and in particular relates to an obstacle visual detection method based on a FIRA platform. Background technique

[0002] Visual obstacle avoidance is an important method to obtain environmental information in the field of robot motion control, the main method for animal motion obstacle avoidance in nature, and one of the main challenges in the fields of automatic driving and robot automation. There are currently several methods for visual obstacle avoidance of ground robots, such as SLAM, image moments, and so on.

[0003] The FIRA simulation obstacle avoidance challenge environment is a virtual platform based on the Gazebo simulation physics engine to drive the turtlebot wheeled robot for obstacle avoidance under ROS (Robot Operating System). It is the official platform of the international competition FIRA SimuroSotRobo challenge. In this environment, it is necessary to control the robot's ...

Claims

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