CN112947419B - 避障方法、装置及设备 - Google Patents
避障方法、装置及设备 Download PDFInfo
- Publication number
- CN112947419B CN112947419B CN202110112386.5A CN202110112386A CN112947419B CN 112947419 B CN112947419 B CN 112947419B CN 202110112386 A CN202110112386 A CN 202110112386A CN 112947419 B CN112947419 B CN 112947419B
- Authority
- CN
- China
- Prior art keywords
- obstacle
- robot
- tracking target
- depth
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 68
- 230000003068 static effect Effects 0.000 claims abstract description 62
- 238000012545 processing Methods 0.000 claims description 36
- 230000004888 barrier function Effects 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000015654 memory Effects 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 9
- 238000010606 normalization Methods 0.000 claims description 9
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110112386.5A CN112947419B (zh) | 2021-01-27 | 2021-01-27 | 避障方法、装置及设备 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110112386.5A CN112947419B (zh) | 2021-01-27 | 2021-01-27 | 避障方法、装置及设备 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN112947419A CN112947419A (zh) | 2021-06-11 |
CN112947419B true CN112947419B (zh) | 2023-03-21 |
Family
ID=76237994
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110112386.5A Active CN112947419B (zh) | 2021-01-27 | 2021-01-27 | 避障方法、装置及设备 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112947419B (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115230719B (zh) * | 2021-12-01 | 2023-09-26 | 上海仙途智能科技有限公司 | 一种行驶轨迹规划方法和装置 |
WO2023123117A1 (zh) * | 2021-12-29 | 2023-07-06 | 广东美的白色家电技术创新中心有限公司 | 一种割草机器人避障方法和割草机器人 |
CN114332635B (zh) * | 2022-03-11 | 2022-05-31 | 科大天工智能装备技术(天津)有限公司 | 一种智能搬运机器人障碍物自动识别方法和*** |
CN115525047B (zh) * | 2022-03-21 | 2023-07-25 | 江苏集萃清联智控科技有限公司 | 一种具备多型避障方式的车辆局部轨迹规划方法及*** |
CN116755562B (zh) * | 2023-07-04 | 2024-04-05 | 深圳市仙瞬科技有限公司 | 一种避障方法、装置、介质及ar/vr设备 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11074495B2 (en) * | 2013-02-28 | 2021-07-27 | Z Advanced Computing, Inc. (Zac) | System and method for extremely efficient image and pattern recognition and artificial intelligence platform |
CN105652873B (zh) * | 2016-03-04 | 2018-10-09 | 中山大学 | 一种基于Kinect的移动机器人避障方法 |
CN109711431A (zh) * | 2018-11-27 | 2019-05-03 | 哈尔滨工业大学(深圳) | 一处局部分块卷积的目标跟踪方法、***及存储介质 |
CN109859243A (zh) * | 2019-01-18 | 2019-06-07 | 昆明理工大学 | 一种基于尺度自适应块粒子的运动目标跟踪方法 |
CN109828528A (zh) * | 2019-01-21 | 2019-05-31 | 河北工业职业技术学院 | 机器人轨迹跟踪方法及装置 |
CN110135500B (zh) * | 2019-05-17 | 2023-03-24 | 南京大学 | 一种基于自适应深度特征滤波器的多场景下目标跟踪方法 |
CN110826508B (zh) * | 2019-11-12 | 2022-10-11 | 浙江工商大学 | 一种基于视频流的行人非机动车违章检测与跟踪方法 |
CN110955241B (zh) * | 2019-11-22 | 2023-04-14 | 深圳市优必选科技股份有限公司 | 移动机器人避障方法、装置、移动机器人及存储介质 |
CN112171675B (zh) * | 2020-09-28 | 2022-06-10 | 深圳市丹芽科技有限公司 | 一种移动机器人的避障方法、装置、机器人及存储介质 |
-
2021
- 2021-01-27 CN CN202110112386.5A patent/CN112947419B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN112947419A (zh) | 2021-06-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112947419B (zh) | 避障方法、装置及设备 | |
CN112417967B (zh) | 障碍物检测方法、装置、计算机设备和存储介质 | |
CN111666921B (zh) | 车辆控制方法、装置、计算机设备和计算机可读存储介质 | |
JP7106665B2 (ja) | 単眼深度推定方法およびその装置、機器ならびに記憶媒体 | |
US9990736B2 (en) | Robust anytime tracking combining 3D shape, color, and motion with annealed dynamic histograms | |
US8199977B2 (en) | System and method for extraction of features from a 3-D point cloud | |
CN111797657A (zh) | 车辆周边障碍检测方法、装置、存储介质及电子设备 | |
CN111488812B (zh) | 障碍物位置识别方法、装置、计算机设备和存储介质 | |
CN111062263B (zh) | 手部姿态估计的方法、设备、计算机设备和存储介质 | |
WO2020154990A1 (zh) | 目标物体运动状态检测方法、设备及存储介质 | |
CN110992424B (zh) | 基于双目视觉的定位方法和*** | |
CN110827320B (zh) | 基于时序预测的目标跟踪方法和装置 | |
CN111967396A (zh) | 障碍物检测的处理方法、装置、设备及存储介质 | |
CN111913177A (zh) | 对目标物探测方法、装置以及存储介质 | |
CN113780064A (zh) | 一种目标跟踪方法以及装置 | |
Mitzel et al. | Real-Time Multi-Person Tracking with Time-Constrained Detection. | |
CN110765875B (zh) | 交通目标的边界检测方法、设备及装置 | |
CN116665179A (zh) | 数据处理方法、装置、域控制器以及存储介质 | |
CN110864670A (zh) | 目标障碍物位置的获取方法和*** | |
CN116434156A (zh) | 目标检测方法、存储介质、路侧设备及自动驾驶*** | |
CN115249269A (zh) | 目标检测方法、计算机程序产品、存储介质及电子设备 | |
CN114170267A (zh) | 目标跟踪方法、装置、设备及计算机可读存储介质 | |
CN115431968B (zh) | 车辆控制器、车辆及车辆控制方法 | |
Yan et al. | Monocular catadioptric panoramic depth estimation via improved end-to-end neural network model | |
CN115994934B (zh) | 数据时间对齐方法、装置以及域控制器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230927 Address after: Room 2202, 22 / F, Wantong building, No. 3002, Sungang East Road, Sungang street, Luohu District, Shenzhen City, Guangdong Province Patentee after: Shenzhen dragon totem technology achievement transformation Co.,Ltd. Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Effective date of registration: 20230927 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 050091 no.626, Hongqi Street, Qiaoxi District, Shijiazhuang City, Hebei Province Patentee before: HEBEI College OF INDUSTRY AND TECHNOLOGY |
|
TR01 | Transfer of patent right |