CN107179768B - 一种障碍物识别方法及装置 - Google Patents
一种障碍物识别方法及装置 Download PDFInfo
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- CN107179768B CN107179768B CN201710340297.XA CN201710340297A CN107179768B CN 107179768 B CN107179768 B CN 107179768B CN 201710340297 A CN201710340297 A CN 201710340297A CN 107179768 B CN107179768 B CN 107179768B
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- 238000006243 chemical reaction Methods 0.000 claims description 42
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- 238000004364 calculation method Methods 0.000 description 17
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- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Optics & Photonics (AREA)
- Theoretical Computer Science (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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CN201710340297.XA CN107179768B (zh) | 2017-05-15 | 2017-05-15 | 一种障碍物识别方法及装置 |
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CN201710340297.XA CN107179768B (zh) | 2017-05-15 | 2017-05-15 | 一种障碍物识别方法及装置 |
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CN107179768A CN107179768A (zh) | 2017-09-19 |
CN107179768B true CN107179768B (zh) | 2020-01-17 |
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Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108256430B (zh) * | 2017-12-20 | 2021-01-29 | 北京理工大学 | 障碍物信息获取方法、装置及机器人 |
CN108648219B (zh) * | 2018-04-08 | 2022-02-22 | 浙江大承机器人科技有限公司 | 一种基于双目的障碍物与可行区域检测方法 |
CN108594264B (zh) * | 2018-04-28 | 2021-10-22 | 诺亚机器人科技(上海)有限公司 | 障碍物识别方法、系统及具有障碍物识别功能的机器人 |
CN109074490B (zh) * | 2018-07-06 | 2023-01-31 | 达闼机器人股份有限公司 | 通路检测方法、相关装置及计算机可读存储介质 |
CN109141364B (zh) * | 2018-08-01 | 2020-11-03 | 北京进化者机器人科技有限公司 | 障碍物检测方法、系统及机器人 |
CN109492521B (zh) * | 2018-09-13 | 2022-05-13 | 北京米文动力科技有限公司 | 一种人脸定位方法及机器人 |
CN111368607B (zh) * | 2018-12-26 | 2023-06-02 | 北京欣奕华科技有限公司 | 一种机器人、障碍物的检测方法及检测装置 |
CN109814564A (zh) * | 2019-01-29 | 2019-05-28 | 炬星科技(深圳)有限公司 | 目标对象的检测、避障方法、电子设备及存储介质 |
CN109872324A (zh) * | 2019-03-20 | 2019-06-11 | 苏州博众机器人有限公司 | 地面障碍物检测方法、装置、设备和存储介质 |
CN111898396A (zh) * | 2019-05-06 | 2020-11-06 | 北京四维图新科技股份有限公司 | 障碍物检测方法和装置 |
CN110231035B (zh) * | 2019-06-27 | 2020-03-20 | 北京克莱明科技有限公司 | 攀爬移动机器人路径引导方法 |
CN110441791B (zh) * | 2019-08-14 | 2023-07-04 | 深圳无境智能机器人有限公司 | 一种基于前倾2d激光雷达的地面障碍物检测方法 |
CN110936383B (zh) * | 2019-12-20 | 2022-11-18 | 上海有个机器人有限公司 | 一种机器人的障碍物避让方法、介质、终端和装置 |
CN111353453B (zh) * | 2020-03-06 | 2023-08-25 | 北京百度网讯科技有限公司 | 用于车辆的障碍物检测方法和装置 |
WO2022041112A1 (zh) * | 2020-08-28 | 2022-03-03 | 深圳市大疆创新科技有限公司 | 可移动平台的控制方法、装置及控制系统 |
CN112699734B (zh) * | 2020-12-11 | 2024-04-16 | 深圳银星智能集团股份有限公司 | 门槛检测方法、移动机器人及存储介质 |
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JP2014032666A (ja) * | 2012-08-01 | 2014-02-20 | Mitsubishi Electric Corp | 周囲状況に対するカメラの姿勢を求めるための方法 |
CN104267728A (zh) * | 2014-10-16 | 2015-01-07 | 哈尔滨工业大学 | 一种基于可达区域质心矢量的移动机器人避障方法 |
CN104374376A (zh) * | 2014-11-05 | 2015-02-25 | 北京大学 | 一种车载三维测量系统装置及其应用 |
CN105652873A (zh) * | 2016-03-04 | 2016-06-08 | 中山大学 | 一种基于Kinect的移动机器人避障方法 |
CN106054874A (zh) * | 2016-05-19 | 2016-10-26 | 歌尔股份有限公司 | 视觉定位标定方法、装置及机器人 |
CN106405555A (zh) * | 2016-09-23 | 2017-02-15 | 百度在线网络技术(北京)有限公司 | 用于车载雷达系统的障碍物检测方法和装置 |
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2017
- 2017-05-15 CN CN201710340297.XA patent/CN107179768B/zh active Active
Patent Citations (6)
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JP2014032666A (ja) * | 2012-08-01 | 2014-02-20 | Mitsubishi Electric Corp | 周囲状況に対するカメラの姿勢を求めるための方法 |
CN104267728A (zh) * | 2014-10-16 | 2015-01-07 | 哈尔滨工业大学 | 一种基于可达区域质心矢量的移动机器人避障方法 |
CN104374376A (zh) * | 2014-11-05 | 2015-02-25 | 北京大学 | 一种车载三维测量系统装置及其应用 |
CN105652873A (zh) * | 2016-03-04 | 2016-06-08 | 中山大学 | 一种基于Kinect的移动机器人避障方法 |
CN106054874A (zh) * | 2016-05-19 | 2016-10-26 | 歌尔股份有限公司 | 视觉定位标定方法、装置及机器人 |
CN106405555A (zh) * | 2016-09-23 | 2017-02-15 | 百度在线网络技术(北京)有限公司 | 用于车载雷达系统的障碍物检测方法和装置 |
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浅析工业机器人的坐标转换矩阵算法;殷卓;《技术应用》;20141231;第29-34页 * |
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Address after: Room 402, Building 33 Guangshun Road, Changning District, Shanghai, 2003 Applicant after: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address before: Room 402, Building 33 Guangshun Road, Changning District, Shanghai, 2003 Applicant before: SHANGHAI MUYE ROBOT TECHNOLOGY Co.,Ltd. |
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Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Patentee after: Shanghai Zhihui Medical Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Patentee before: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Patentee after: Shanghai zhihuilin Medical Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Patentee before: Shanghai Zhihui Medical Technology Co.,Ltd. |
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Address after: 202150 room 205, zone W, second floor, building 3, No. 8, Xiushan Road, Chengqiao Town, Chongming District, Shanghai (Shanghai Chongming Industrial Park) Patentee after: Shanghai Noah Wood Robot Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Patentee before: Shanghai zhihuilin Medical Technology Co.,Ltd. |