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Dynamic feature point removing method and device in warehouse semi-structured environment

A semi-structured, dynamic feature technology, applied in neural architecture, image data processing, instruments, etc., can solve problems such as inability to accurately screen out system feature points, and achieve the effect of easy implementation, high precision, and simple processing methods

Pending Publication Date: 2021-11-19
BEIJING WUZI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem solved by the embodiment of the present invention is that in the semi-structured environment of the warehouse, it is impossible to accurately screen out the problem of feature points that have a serious impact on the system

Method used

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  • Dynamic feature point removing method and device in warehouse semi-structured environment
  • Dynamic feature point removing method and device in warehouse semi-structured environment
  • Dynamic feature point removing method and device in warehouse semi-structured environment

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Embodiment 1

[0086] This application proposes a method for removing dynamic feature points in a semi-structured warehouse environment based on a pyramid scene analysis network (a method for removing dynamic feature points in a semi-structured warehouse environment), which can be combined with a pyramid scene analysis network for feature detection and extraction. Optimization, eliminating dynamic feature points in the process of feature detection and extraction, has better accuracy and robustness in the warehouse semi-structured environment, and the main steps in the implementation process are as follows: image 3 , the specific detailed flow chart is as Figure 4 , Oriented FAST key point extraction diagram as shown in Figure 5 , the pyramid scene analysis network structure diagram is as follows Image 6 . By performing image semantic segmentation and feature detection and extraction on the sequence images collected by the camera, the dynamic target area obtained by image semantic segme...

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Abstract

The embodiment of the invention provides a dynamic feature point removing method and device in a warehouse semi-structured environment. The method comprises the following steps: acquiring an image sequence; performing feature detection and extraction on the image sequence to obtain feature points of the image sequence; performing image semantic segmentation on the image sequence to obtain an area where dynamic targets are located; removing the feature points located in the area where the dynamic targets are located. The precision of the method in a warehouse semi-structured environment is higher than that in the prior art; a pyramid scene analysis network is adopted to deal with a warehouse semi-structured environment, and the processing method is simple and accurate; a camera is adopted as a sensor, the cost is low, and the patent is easy to implement.

Description

technical field [0001] The invention relates to the technical field of simultaneous positioning and mapping, in particular to a method and device for removing dynamic feature points in a semi-structured environment of a warehouse. Background technique [0002] At the same time, positioning and mapping technology has become a hot spot in the field of robot research. It means that a robot equipped with sensors can establish a model of the environment during the movement process and estimate its own movement without prior environmental information. If the main sensor is The camera is called visual simultaneous positioning and mapping. The visual simultaneous positioning and mapping based on the feature point method uses the sequential images collected by the camera for map construction and self-pose estimation, all relying on the image feature points obtained from the sequential images. [0003] The placement of warehouse shelves is usually regular, which is called a structured...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/34G06K9/46G06T7/66G06N3/04
CPCG06T7/66G06N3/045
Inventor 苏庆华傅景超李俊韬张娣娣陈雨吴昊
Owner BEIJING WUZI UNIVERSITY
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