CN104729496A - Method for providing obstacle avoidance path by virtue of image recognition and motion accessory - Google Patents

Method for providing obstacle avoidance path by virtue of image recognition and motion accessory Download PDF

Info

Publication number
CN104729496A
CN104729496A CN201310722417.4A CN201310722417A CN104729496A CN 104729496 A CN104729496 A CN 104729496A CN 201310722417 A CN201310722417 A CN 201310722417A CN 104729496 A CN104729496 A CN 104729496A
Authority
CN
China
Prior art keywords
described
barrier
keep away
route
road information
Prior art date
Application number
CN201310722417.4A
Other languages
Chinese (zh)
Inventor
纪皓瀚
苏一峰
杨志弘
Original Assignee
财团法人车辆研究测试中心
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 财团法人车辆研究测试中心 filed Critical 财团法人车辆研究测试中心
Priority to CN201310722417.4A priority Critical patent/CN104729496A/en
Publication of CN104729496A publication Critical patent/CN104729496A/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/005Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching

Abstract

The invention relates to a method for providing an obstacle avoidance path by virtue of image recognition and a motion accessory. The method comprises the following steps: immediately shooting a scene image by simulating vision of a user, and analyzing a scene object in the image to generate road information; analyzing obstacles around the scene and three-dimensional coordinates of the positions of the obstacles according to the road information; and generating the obstacle avoidance path by matching an obstacle detection procedure with a current position and map information to guide a user to advance. By virtue of the technique, a suggested path can be provided and immediately corrected to generate the obstacle avoidance path, so as to ensure the travel safety and convenience.

Description

Utilize image identification to provide and keep away the method for barrier route and accessory of taking action

Technical field

The invention relates to a kind of provide keep away barrier route method and action accessory, espespecially a kind of utilize image analysis techniques automatic Identification barrier and provide keep away barrier route correlation technique.

Background technology

Due to progress and the universalness of science and technology, much tip science and technology is used in daily life, such as fully be used in Vehicular navigation system at present as the Global Positioning System (GPS) (GPS) of military use in one's early years, correlation technique is also used in guide or guidance system in conjunction with image analysing computer.And the setting accuracy of GPS itself is about about 10 meters, this is for the fast motor vehicles of translational speed, and in conjunction with the Vehicular navigation system of electronic chart or geography information, foot applies demand.But for the object (such as pedestrian, blind person or bicycle) of low speed movement, required guidance information may be close at hand, such as blind person, he it is understood that: whether have barrier within one or two meter at the moment, if there is barrier, should how to avoid, if the barrier is even moveable (such as subtend pedestrian, send a car), relating to guidance technology will be more complicated, therefore existing GPS navigation technology directly to be overlapped and be used in guide or guidance system, obviously cannot practical requirement and realize difficulty.

As described in front take off, also have dealer to be used on guide or guidance system in conjunction with GPS and image analysis techniques at present, to the guidance technology providing user more to press close to its actual demand, but lay particular stress on theoretical property or conceptual, realizability is not high more.

Therefore how to provide the specific user one of low speed movement appropriate guidance technology, to guarantee that its safety of advancing is with convenient, needs to be further reviewed, and seeks feasible solution.

Summary of the invention

Therefore fundamental purpose of the present invention is providing a kind of method and the action accessory that utilize image identification to provide to keep away barrier route, it carries out for shooting image the three-dimensional coordinate analyzing to produce barrier, and keep away barrier route in conjunction with location technology, cartographic information immediately to provide, guarantee that the safety of advancing of user is with convenient by this.

The technical way taked for reaching aforementioned object makes preceding method comprise:

The field image of instant shooting one current position, and a road information is produced to the object scene analysis in image;

According to the three-dimensional coordinate of the barrier arround road information analysis scene and barrier;

A detection of obstacles program is utilized to coordinate a current position and a cartographic information to keep away barrier route to produce at least one;

Produce an information, follow this to keep away barrier route to guide user and advance.

The another technical way taked for reaching aforementioned object makes aforementioned action accessory comprise:

One road information-generation module, comprises an image acquisition unit, in order to immediately to capture field image, and carries out analysis generation one road information to the object scene in field image further;

One data processing module, be connected with aforementioned road information generation module, and a built-in detection of obstacles program and space coordinate conversion algorithm, so that by the three-dimensional spatial information reconstructing user's current position in the field image of road information, and the classification of image group is utilized to find out on-the-spot Obstacle Position and type;

One route guidance module, comprises at least one information generation unit, and this information generation unit is connected with aforementioned data processing module, with produce information guide user follow this keep away barrier route advance.

Preceding method mainly absorbs field image immediately to simulate vision and the visual line of sight of user, and the object scene in image is carried out analyzing to produce road information, then by the three-dimensional spatial information (coordinate) whether occurring barrier and barrier in the road information analysis user visual line of sight produced, and by the three-dimensional spatial information of barrier its kenel known, scale, to provide one to keep away the suggestion of barrier route, such as in user's course to upwards having occurred pedestrian, namely this pedestrian is regarded as a moving obstacle, and obtaining and analysis by field image, position and the trend of this moving obstacle can be grasped in road information, and then determine whether revise route, after route is revised in decision, namely produce this and keep away barrier route, and coordinate the generation of information, the course of instant correction user, and then guide user to follow the barrier route of keeping away of this suggestion to advance, to guarantee advance safety and the convenience of user.

Accompanying drawing explanation

Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, does not form limitation of the invention.In the accompanying drawings:

Fig. 1 is the system architecture schematic diagram of the present invention's action accessory one preferred embodiment.

Fig. 2 is the detection barrier coordinate schematic diagram of the present invention's action accessory.

Fig. 3 is the carrier possible embodiments schematic diagram of the present invention's action accessory.

Fig. 4 is a feasible charging modes schematic diagram of the present invention's action accessory.

Fig. 5 is the system architecture schematic diagram of the another preferred embodiment of the present invention's action accessory.

Fig. 6 is the using state schematic diagram of the present invention's action accessory.

Fig. 7 is the method flow diagram of a preferred embodiment of the present invention.

Drawing reference numeral illustrates:

10 road information generation module 11 image acquisition units

111 video camera 12 processors

13 ultrasonic transceiver 14 radars

20 data processing module 21 microprocessors

22 input block 23 GPS unit

24 wireless transmit/receive units

30 route guidance module 31 information generation units

40 power modules

50 cane body 51 handles

52 control enclosurees

60 portable electronic devices

Embodiment

Below coordinating preferred embodiment graphic and of the present invention, setting forth the technological means that the present invention takes for reaching predetermined goal of the invention further.

About the present invention take action accessory one preferred embodiment system architecture as shown in Figure 1, it comprises road information-generation module 10, data processing module 20, route guidance module 30, power module 40 and a carrier (this is not shown in the figures); Wherein, this carrier is in order to accommodating aforementioned road information generation module 10, data processing module 20, route guidance module 30 and power module 40; This power module 40 gives road information generation module 10, data processing module 20 and route guidance module 30 in order to supply working power.The mode producing power supply about the possible implementation of aforementioned carrier and power module 40 is detailed later.

This road information generation module 10 comprises image acquisition unit 11, processor 12, and this image acquisition unit 11 in order to immediately to capture field image, and is analyzed the object scene in field image further by processor 12 and produces a road information; In the present embodiment, this image acquisition unit 11 comprises two video cameras 111.Except capturing field image using image acquisition unit 11 as except the Main Basis producing road information, this road information generation module 10 can comprise other forms of positional information acquisition unit further, such as ultrasonic transceiver 13, radar 14 etc.And this processor 12 obtains scene in image by image acquisition unit 11 and object carries out analyzing and dividing into groups, use and produce this road information.

This data processing module 20 is connected with aforementioned road information generation module 10, in the present embodiment, this data processing module 20 comprises microprocessor 21, input block 22, this input block 22 is connected with data processing module 20, input the destination of wish arrival to microprocessor 21 for user, the form of its input signal can be voice or word.In the present embodiment, this data processing module 20 comprises a GPS unit 23 further, and this GPS unit 23 is connected with microprocessor 21, provides the current position of action accessory to microprocessor 21 to utilize satellite positioning functions.

This microprocessor 21 has a cartographic information, and a built-in detection of obstacles program and a space coordinate conversion algorithm, its destination inputted via input block 22 according to user, the current position utilizing GPS unit 23 to provide and cartographic information are to produce an original route, and utilize space coordinate conversion algorithm in the field image of road information, reconstruct the three-dimensional spatial information of user's current position, and utilize the classification of image group to find out on-the-spot Obstacle Position and type, the amount of movement of this barrier of recycling detection of obstacles program instant computing, to determine whether revise original route, and then generation one keeps away barrier route after original route is revised in decision.

With general path of navigation algorithm unlike: the object that the present invention is suitable for is people, bicycle such as, be proceed slowly (1.25 meter per second), and travel range is less, therefore this detection of obstacles program adds dynamic vector estimation (Motion Estimation), with the amount of movement of instant computing barrier.Refer to shown in Fig. 2, be respectively the road information (image) that road information generation module 10 produces at different time, the barrier in road information is subtend pedestrian, and advances relative to user direction, as shown in part A in Fig. 2, subtend pedestrian is I in the volume coordinate of the very first time 1, as shown in part B in Fig. 2, at the volume coordinate I of the second time 2, according to above-mentioned volume coordinate I 1, I 2estimate the amount of movement of subtend pedestrian, refer to following formula:

SAD ( u , v ) = Σ ( u , v ) ∈ W | I 1 ( u , v ) - I 2 ( u , v ) | ;

Wherein, the image difference summation of SAD (u, the v)=time very first time to the second;

I 1(u, v)=barrier is at the coordinate position of the very first time;

I 2(u, v)=barrier is at the coordinate position of the second time;

The range of convergence that W=is concerned about.

Can estimating the amount of movement of subtend pedestrian (barrier) relative to user according to above formula, whether can revise original route for studying and judging by this, and then generation one keeps away barrier route.

Still refer to shown in Fig. 1, this route guidance module 30 comprises at least one information generation unit 31, this information generation unit 31 is connected with data processing module 20, after data processing module 20 generation keeps away barrier route, information generation unit 31 will be notified, and produce information by information generation unit 31, with guide user comply with this keep away barrier route advance.Be understandable that for those skilled in the art: this information can be the forms such as alarm song, voice, vibrations.

About a possible implementation of above-mentioned carrier, be illustrated in figure 3 Yi Guai Zhang form, it has a cane body 50, this cane body 50 upper end forms a handle 51, and this handle 51 place contiguous forms hollow accommodation space, and above-mentioned road information generation module 10, data processing module 20, route guidance module 30 are incorporated in a control enclosure 52, and are located in the accommodation space of cane body 50, wherein the video camera 111 of road information generation module 10 exposes outside cane body 50, to absorb external image.

The carrier of aforementioned Guai Zhang form can be used as blind-guiding stick, also can use Guai Zhang as old man, walk out of doors with assisting blind, old man.Moreover, aforesaid power module 40 can be located in control enclosure 52, also the different parts of cane body 50 can be located at, as shown in Figure 4, when carrier uses as blind-guiding stick, its power module 40 is made up of an accumulator and a wireless charger, and wirelessly charge, use due on the walkway that blind-guiding stick lays blind-guide brick through being everlasting, below blind-guide brick, wireless charging facility is built if therefore following, when then blind person uses above-mentioned blind-guiding stick to walk on blind-guide brick, can charge simultaneously, for ease of charging, this power module 40 is positioned at the bottom end of cane body 50.

When using as blind-guiding stick as the present invention, one feasible pattern is as described below: mainly first input the destination for going to by input block 22 by user, and coordinate current position and cartographic information to cook up an original route by data processing module 20, and by the information generation unit 31 of route guidance module 30 produce information guide user follow the original route of planning to advance.In traveling process, the image acquisition unit 11 of road information generation module 10 constantly captures field image to produce road information, judge that user simulates sight line front and whether occurs barrier for data processing module 20, after there is barrier, and analysis obtains its type and volume coordinate further, judge its amount of movement with this barrier of trace detection, thus determine that whether should to produce one keeps away barrier route with assisting user avoiding obstacles.

And keeping away after barrier route produces, namely producing information to guide user by information generation unit 31 follows this revised keeping away to hinder route and advance, and guarantees the smooth and easy of course and safety.

In a feasible Application Example, action accessory of the present invention can coordinate a portable electronic devices (such as smart mobile phone, panel computer etc.) use, when accessory of taking action coordinates this portable electronic devices to use, the voice identification function on it can be utilized, application program (APP) receives user with the destination of phonetic entry, the data processing module 20 of action accessory is sent again to via wireless mode (such as bluetooth), for supporting this function, refer to shown in Fig. 5, this data processing module 20 comprises a wireless transmit/receive units 24 further, this wireless transmit/receive units 24 can be a bluetooth module, it is connected with microprocessor 21, to receive the information that portable electronic devices 60 is sent here, and microprocessor 21 also transmits guidance information to portable electronic devices 60 by this wireless transmit/receive units 24, producing information to utilize the phonetic function of portable electronic devices 60 guides user to advance (as shown in Figure 6).

Action accessory of the present invention is except as above can be used as except blind-guiding stick, also the vehicles (the such as bicycle that low speed is advanced can be used in, travelling aided bicycle or electric wheelchair etc.), that is aforementioned carrier is bicycle, travelling aided bicycle or electric wheelchair, and the image acquisition unit 11 of its road information generation module 10 absorbs image after car, back car is considered as the barrier of movement, the direct of travel of its traceable back car, and judge whether according to this to need to revise route, and after route is revised in decision and generation keeps away barrier route, producing information guides it to follow to keep away barrier route to advance to user.

According to above-mentioned known, the present invention further provides a kind of method utilizing image identification to provide to keep away barrier route, refer to shown in Fig. 7, it comprises:

The field image of instant shooting one current position, and a road information (step S11) is produced to the object scene analysis in image;

The three-dimensional coordinate (step S12) of barrier arround current position and barrier is analyzed according to road information;

A detection of obstacles program is utilized to coordinate current position, a cartographic information to keep away barrier route (step S13) to produce at least one;

Produce an information, follow this to keep away barrier route to guide user and advance (step S14).

From the above, action accessory of the present invention is applicable to the use object that various low speed is advanced, and provides an active guidance function, makes the course of user more smooth, and function is avoided for the guiding of barrier, further guarantee the safety of user's row.

Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; the protection domain be not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. utilize image identification to provide and keep away the method hindering route, it is characterized in that, comprising:
The field image of instant shooting one current position, and a road information is produced to the object scene analysis in image;
The three-dimensional coordinate of barrier arround described current position and barrier is analyzed according to described road information;
A detection of obstacles program is utilized to coordinate described current position and a cartographic information to keep away barrier route to produce at least one;
Produce an information, with guide user follow described in keep away barrier route advance.
2. the method utilizing image identification to provide to keep away barrier route according to claim 1, is characterized in that, described detection of obstacles program adds dynamic vector estimation with the amount of movement of instant computing barrier according to following formula:
SAD ( u , v ) = Σ ( u , v ) ∈ W | I 1 ( u , v ) - I 2 ( u , v ) | ;
Wherein, SAD (u, v) the image difference summation that is the time very first time to the second;
I 1(u, v) is for barrier is at the coordinate position of the very first time;
I 2(u, v) is for barrier is at the coordinate position of the second time;
W is be concerned about range of convergence.
3. the method utilizing image identification to provide to keep away barrier route according to claim 1 and 2, is characterized in that, the three-dimensional coordinate of described barrier is via acquired by a space coordinate conversion algorithm according to the image of road information;
The position of described barrier and type utilize image group to classify further and find out.
4. utilize image identification to provide and keep away the action accessory hindering route, it is characterized in that, comprising:
One road information-generation module, comprises an image acquisition unit, in order to immediately to capture field image, and carries out analysis generation one road information to the object scene in field image further;
One data processing module, be connected with described road information generation module, and a built-in detection of obstacles program and space coordinate conversion algorithm, so that by the three-dimensional spatial information reconstructing user's current position in the field image of road information, and the classification of image group is utilized to find out on-the-spot Obstacle Position and type;
One route guidance module, comprises at least one information generation unit, and described information generation unit is connected with described data processing module, with produce information guide user follow described in keep away barrier route advance;
One power module, supply working power gives described road information generation module, data processing module and route guidance module.
5. the action accessory utilizing image identification to provide to keep away barrier route according to claim 4, it is characterized in that, described data processing module comprises a microprocessor, an input block, described input block is connected with data processing module, inputs the destination extremely described microprocessor for arriving for user.
6. the action accessory utilizing image identification to provide to keep away barrier route according to claim 5, it is characterized in that, described data processing module comprises a GPS unit, and described GPS unit is connected with microprocessor, provides the current position of action accessory to described microprocessor to utilize satellite positioning functions;
Described microprocessor has a cartographic information, and built-in described detection of obstacles program and space coordinate conversion algorithm.
7. the action accessory utilizing image identification to provide to keep away barrier route according to claim 5, it is characterized in that, described data processing module comprises a wireless transmit/receive units further.
8. the action accessory utilizing image identification to provide to keep away barrier route according to any one of claim 4 to 7, it is characterized in that, comprise a carrier and a control enclosure further, described control enclosure is located in described carrier, in order to accommodating described road information generation module, described data processing module, described route guidance module.
9. the action accessory utilizing image identification to provide to keep away barrier route according to claim 8, it is characterized in that, described carrier is a cane body, described cane body upper end forms a handle, contiguous described handbar forms a hollow accommodation space, with accommodating described control enclosure, it is external that the image acquisition unit of described road information generation module exposes described cane.
10. the action accessory utilizing image identification to provide to keep away barrier route according to claim 9, it is characterized in that, described power module is positioned at the bottom end of cane body, and described power module comprises an accumulator and a wireless charger.
CN201310722417.4A 2013-12-24 2013-12-24 Method for providing obstacle avoidance path by virtue of image recognition and motion accessory CN104729496A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310722417.4A CN104729496A (en) 2013-12-24 2013-12-24 Method for providing obstacle avoidance path by virtue of image recognition and motion accessory

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310722417.4A CN104729496A (en) 2013-12-24 2013-12-24 Method for providing obstacle avoidance path by virtue of image recognition and motion accessory

Publications (1)

Publication Number Publication Date
CN104729496A true CN104729496A (en) 2015-06-24

Family

ID=53453620

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310722417.4A CN104729496A (en) 2013-12-24 2013-12-24 Method for providing obstacle avoidance path by virtue of image recognition and motion accessory

Country Status (1)

Country Link
CN (1) CN104729496A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105444759A (en) * 2015-11-17 2016-03-30 广东欧珀移动通信有限公司 Indoor navigation method and device thereof
CN106726379A (en) * 2016-12-21 2017-05-31 英业达科技有限公司 Intelligent blind guiding system and intelligent blind-guiding method

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101077578A (en) * 2007-07-03 2007-11-28 北京控制工程研究所 Mobile Robot local paths planning method on the basis of binary environmental information
CN101483806A (en) * 2009-02-24 2009-07-15 南京师范大学 Outdoor blind guidance service system and method oriented to blind disturbance people
CN101976079A (en) * 2010-08-27 2011-02-16 中国农业大学 Intelligent navigation control system and method
CN102087530A (en) * 2010-12-07 2011-06-08 东南大学 Vision navigation method of mobile robot based on hand-drawing map and path
CN102313547A (en) * 2011-05-26 2012-01-11 东南大学 Vision navigation method of mobile robot based on hand-drawn outline semantic map
CN102822757A (en) * 2010-03-24 2012-12-12 泰为信息科技公司 Navigation system with image assisted navigation mechanism and method of operation thereof
CN103413313A (en) * 2013-08-19 2013-11-27 国家电网公司 Binocular vision navigation system and method based on power robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101077578A (en) * 2007-07-03 2007-11-28 北京控制工程研究所 Mobile Robot local paths planning method on the basis of binary environmental information
CN101483806A (en) * 2009-02-24 2009-07-15 南京师范大学 Outdoor blind guidance service system and method oriented to blind disturbance people
CN102822757A (en) * 2010-03-24 2012-12-12 泰为信息科技公司 Navigation system with image assisted navigation mechanism and method of operation thereof
CN101976079A (en) * 2010-08-27 2011-02-16 中国农业大学 Intelligent navigation control system and method
CN102087530A (en) * 2010-12-07 2011-06-08 东南大学 Vision navigation method of mobile robot based on hand-drawing map and path
CN102313547A (en) * 2011-05-26 2012-01-11 东南大学 Vision navigation method of mobile robot based on hand-drawn outline semantic map
CN103413313A (en) * 2013-08-19 2013-11-27 国家电网公司 Binocular vision navigation system and method based on power robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105444759A (en) * 2015-11-17 2016-03-30 广东欧珀移动通信有限公司 Indoor navigation method and device thereof
CN106726379A (en) * 2016-12-21 2017-05-31 英业达科技有限公司 Intelligent blind guiding system and intelligent blind-guiding method

Similar Documents

Publication Publication Date Title
Llorca et al. Autonomous pedestrian collision avoidance using a fuzzy steering controller
KR101114722B1 (en) Apparatus and method of guiding rout based on step
Dickmanns et al. Recursive 3-d road and relative ego-state recognition
JPWO2006064544A1 (en) Car storage equipment
EP1860515A2 (en) Mobile robot, and control method and program for the same
JP2009036571A (en) Position measuring system utilizing visible light communication system, position measuring device, and position measuring method
JP4672190B2 (en) Video navigation device
KR20140033277A (en) Apparatus of identificating vehicle based vehicle-to-vehicle communication, and method of thereof
JP4850984B2 (en) Action space presentation device, action space presentation method, and program
JP5927735B2 (en) Map data creation device, autonomous mobile system and autonomous mobile control device
Kolski et al. Autonomous driving in structured and unstructured environments
CN104236548A (en) Indoor autonomous navigation method for micro unmanned aerial vehicle
CN106573546A (en) Presenting routing information for electric vehicles
Peng et al. A smartphone-based obstacle sensor for the visually impaired
JP2014101075A (en) Image processing apparatus, image processing method and program
JP4911534B2 (en) Mobile positioning device
US20100029293A1 (en) Navigation system using camera
EP2426511A1 (en) Positioning apparatus and positioning method
KR20140089516A (en) Route smoothing
JP2014065392A (en) Portable terminal, remote control system, remote control method, and program
CN106030430A (en) Multi-sensor fusion for robust autonomous filght in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (MAV)
KR101214143B1 (en) Method and apparatus for detecting position and orientation
JP2005062083A (en) Survey system having function of position error correction
CN102141797B (en) Airport terminal service robot and control method thereof
DE102013210746A1 (en) System and method for monitoring and / or operating a technical system, in particular a vehicle

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20150624