Data fusion method and device of event camera and standard camera, equipment and medium

Abstract

The invention relates to the technical field of robot vision, and particularly discloses a data fusion method, device and equipment for an event camera and a standard camera, and a medium, and the method comprises the following steps: dividing depth image information into a plurality of pieces of point cloud block information according to the resolution of event information; obtaining forward probability information and backward probability information according to the probability density of the point cloud block information and the event information, wherein the forward probability information and the backward probability information are the forward probability and the backward probability of the event information migrated to the position of the point cloud block information respectively; obtaining correlation information of the point cloud block information and the event information according to the forward probability information and the backward probability information; obtaining conditional probabilities of the event information and the point cloud block information according to the correlation information and a total probability formula; fusing the point cloud block information and the event information according to the maximized conditional probability; the method has the characteristics of high matching precision, small calculation amount and high fusion efficiency.

Description

technical field [0001] The present application relates to the field of robot vision technology, and in particular, to a data fusion method, device, device and medium of an event camera and a standard camera. Background technique [0002] Common outdoor robots include unmanned vehicles, drones, and quadruped robots. This outdoor mobile robot is usually used to undertake tasks such as inspection, target tracking, and handling. In the process of completing the above tasks, the visual recognition function as the "eye" of the robot plays an extremely important role. [0003] Outdoor robots generally rely on various visual sensors to obtain images and use the analyzed image data as the result of environmental recognition. The quality of the image directly affects the robot's ability to achieve autonomous navigation, target tracking, gesture recognition, and 3D reconstruction. So how to solve or improve these image problems is of great significance and practical value. [0004] A...

AI Technical Summary

Problems solved by technology

[0004] Among them, the event camera obtains information by sensing the dynamic changes of scene light intensity, and has the characteristics of high time resolution, low delay characteristics (microsecond level), high dynamic range (140Db compared with 60dB for standard cameras) and low power consumption. ; When event cameras are applied to outdoor robots, they often output event information to be fused with the image data acquired by standard cameras to obtain high-precision fusion data. The existing data fusion methods of event cameras and standard cameras generally have data processing calculations Disadvantages such as large size, low fusion efficiency, and low precision

[0005] For the above problems, there is no effective technical solution

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