Obstacle detection method and device, equipment and storage medium
An obstacle detection and obstacle technology, which is applied in the field of computer images, can solve the problems that three-dimensional maps and two-dimensional maps cannot meet the needs of unmanned equipment maps, and achieve the effect of being easy to use.
Pending Publication Date: 2022-06-24
CHINA TELECOM CORP LTD
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[0005] The present disclosure provides an obstacle detection method, device, equipment and storage medium, at least to a certain extent, to overcome the problem that the three-dimensional map and the two-dimensional map in the related art cannot meet the needs of unmanned equipment for maps
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[0062] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0063] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted. Some of the block diagrams shown in the figures are functional entities that do not necessarily necessarily correspond to physically or logically separate entities. These functi...
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The invention provides an obstacle detection method and device, equipment and a storage medium, and relates to the technical field of computer images. The method comprises the following steps: collecting multi-modal feature information of a static obstacle; judging whether the horizontal projection areas of the static obstacle at different heights are the same or not according to the multi-modal feature information; when the horizontal projection areas of the static obstacle at different heights are different, determining horizontal projection areas generated by the static obstacle at a plurality of preset heights according to the multi-modal feature information; and generating an obstacle map corresponding to each preset height in the plurality of preset heights based on the horizontal projection area generated by the static obstacle at the plurality of preset heights and the original map. In the embodiment of the invention, each obstacle map can more accurately represent the obstacle at the height, so that the unmanned equipment is more convenient to use during path planning.
Description
technical field [0001] The present disclosure relates to the field of computer image technology, and in particular, to an obstacle detection method, device, device, and storage medium. Background technique [0002] With the advancement of technology, more and more unmanned devices (for example, unmanned vehicles) operate in daily life, factory warehouses, agricultural scenes, etc. In the process of automatic operation of unmanned equipment, it is necessary to obtain obstacle information in order to perform operations such as obstacle avoidance. [0003] However, due to the complex ground environment, for some obstacles, neither the 3D map nor the 2D map in the related art can meet the map requirements of unmanned equipment, such as low and suspended obstacles, and the 3D map needs to be based on 3D modeling. Completion, the process is complex, time-consuming, highly professional, and has insufficient response to real-time dynamic changes in the scene; however, two-dimension...
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Login to View More IPC IPC(8): G06T17/05
CPCG06T17/05
Inventor 李伟杨明川
Owner CHINA TELECOM CORP LTD