Behavior-associated object feature extraction method in complex scene

A technology of object features and complex scenes, applied in image data processing, instrument, character and pattern recognition, etc., can solve problems such as difficulty in dealing with uncertainties in different environments, improve accuracy, improve solution accuracy, and achieve accurate The effect of positioning

Pending Publication Date: 2021-10-08
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0005] The technical problem solved by the present invention is: in view of the current existing technology, when the environment of the traditional target box changes, it is difficult to deal with the uncertainty of different environments, and a behavior-related object feature extraction in complex scenes is proposed method

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  • Behavior-associated object feature extraction method in complex scene

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Embodiment Construction

[0029] A behavior-related object feature extraction method in complex scenes, which is used for behavior-related object feature mining in complex scenes, to achieve precise positioning of the target box, to detect the position and posture of the contents of the box, and to calculate the position of the vacant area in the box in real time, such as figure 1 As shown, the specific steps are as follows:

[0030] (1) Use the RGB-D depth camera to obtain scene depth information, RGB color images, and depth images, and detect circular signs in the scene; wherein, the circular signs are attached to the four corners of the edge of the target box;

[0031] Among them, the specific steps of using the RGB-D depth camera to obtain scene depth information, color images and detect circular signs in the scene are as follows:

[0032] (1-1) The RGB color image acquired by the RGB-D depth camera is subjected to threshold screening according to the depth map, and the threshold is a depth thresho...

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Abstract

A behavior-associated object feature extraction method in a complex scene is used for positioning a box and detecting a behavior-associated state of an unknown object in the box, and comprises the following steps: (1) acquiring scene depth information and a color image by using an RGB-D depth camera, and detecting a circular mark in the scene; (2) resolving the spatial position and posture of a target box according to the round markers which are screened out in the step (1) and attached to the four corners of the upper edge of the box; (3) for the target box body obtained in the step (2), carrying out contour detection on an object in the box body, and carrying out rectangle fitting and attitude position estimation on the object; and (4) obtaining a vacant area of the box according to the position and posture of each independent object in the box obtained in the step (3).

Description

technical field [0001] The invention relates to a behavior-related object feature extraction method in a complex scene, which belongs to the application field of robot intelligent boxing. Background technique [0002] At present, all space powers in the world are actively developing extraterrestrial detection technology and actively occupying the outer space highlands. The United States, Russia and other space powers have already carried out exploration activities of other planets or satellites in the solar system, and at the same time regard Mars exploration as an important follow-up development direction. China has also launched the "Tianwen-1" Mars probe to Mars, which has made breakthroughs in key technologies such as Mars orbiting, landing, and cruise detection, and has taken a big step in China's independent planetary exploration. [0003] In the field of extraterrestrial exploration, the collection of planetary surface soil and minerals is an important task, which ca...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/13G06T5/00G06T7/62G06K9/46
CPCG06T7/73G06T7/13G06T5/002G06T7/62G06T2207/10024G06T2207/10028
Inventor 谢心如刘乃龙高锡珍刘昊郭政航黄煌汤亮
Owner BEIJING INST OF CONTROL ENG
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