CN110278714A - 障碍物检测方法、移动平台及计算机可读存储介质 - Google Patents

障碍物检测方法、移动平台及计算机可读存储介质 Download PDF

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CN110278714A
CN110278714A CN201880011004.6A CN201880011004A CN110278714A CN 110278714 A CN110278714 A CN 110278714A CN 201880011004 A CN201880011004 A CN 201880011004A CN 110278714 A CN110278714 A CN 110278714A
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moment
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CN110278714B (zh
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刘昂
张立天
马陆
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种障碍物检测方法、移动平台及计算机可读存储介质，包括：获取具有障碍物指示信息的第一类栅格；确定所述第一类栅格在第一深度图像中对应的投影位置；获取移动平台与所述投影位置的第一距离、移动平台与障碍物的第二距离；所述障碍物是基于第一深度图像检测到的障碍物；根据第一距离和第二距离更新所述第一类栅格的障碍物指示信息。应用本发明实施例，可以解决建图耗时的问题，降低建图耗时，并可以提高用户的使用体验。

Description

PCT国内申请，说明书已公开。

Claims (47)

  1. PCT国内申请，权利要求书已公开。
CN201880011004.6A 2018-01-23 2018-01-23 障碍物检测方法、移动平台及计算机可读存储介质 Expired - Fee Related CN110278714B (zh)

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PCT/CN2018/073861 WO2019144286A1 (zh) 2018-01-23 2018-01-23 障碍物检测方法、移动平台及计算机可读存储介质

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111999741A (zh) * 2020-01-17 2020-11-27 青岛慧拓智能机器有限公司 路侧激光雷达目标检测方法及装置
WO2022143114A1 (zh) * 2020-12-31 2022-07-07 深圳市普渡科技有限公司 静态地图生成方法、装置、计算机设备及存储介质
CN115965682A (zh) * 2022-12-16 2023-04-14 镁佳(北京)科技有限公司 一种车辆可通行区域确定方法、装置及计算机设备

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116563817B (zh) * 2023-04-14 2024-02-20 禾多科技（北京）有限公司 障碍物信息生成方法、装置、电子设备和计算机可读介质

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CN101619985A (zh) * 2009-08-06 2010-01-06 上海交通大学 基于可变形拓扑地图的服务机器人自主导航方法
EP3062123A1 (en) * 2015-02-27 2016-08-31 GE Aviation Systems LLC System and methods of detecting an intruding object in a relative navigation system
CN106940186A (zh) * 2017-02-16 2017-07-11 华中科技大学 一种机器人自主定位与导航方法及系统
CN107229903A (zh) * 2017-04-17 2017-10-03 深圳奥比中光科技有限公司 机器人避障的方法、装置及存储装置

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CN101852609B (zh) * 2010-06-02 2011-10-19 北京理工大学 一种基于机器人双目立体视觉的地面障碍物检测方法
CN106104203B (zh) * 2015-07-13 2018-02-02 深圳市大疆创新科技有限公司 一种移动物体的距离检测方法、装置及飞行器
CN106052674B (zh) * 2016-05-20 2019-07-26 青岛克路德机器人有限公司 一种室内机器人的slam方法和系统
CN108481320B (zh) * 2017-01-09 2020-03-27 广东宝乐机器人股份有限公司 一种机器人的移动控制方法及机器人

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Publication number Priority date Publication date Assignee Title
CN101619985A (zh) * 2009-08-06 2010-01-06 上海交通大学 基于可变形拓扑地图的服务机器人自主导航方法
EP3062123A1 (en) * 2015-02-27 2016-08-31 GE Aviation Systems LLC System and methods of detecting an intruding object in a relative navigation system
CN106940186A (zh) * 2017-02-16 2017-07-11 华中科技大学 一种机器人自主定位与导航方法及系统
CN107229903A (zh) * 2017-04-17 2017-10-03 深圳奥比中光科技有限公司 机器人避障的方法、装置及存储装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111999741A (zh) * 2020-01-17 2020-11-27 青岛慧拓智能机器有限公司 路侧激光雷达目标检测方法及装置
CN111999741B (zh) * 2020-01-17 2023-03-14 青岛慧拓智能机器有限公司 路侧激光雷达目标检测方法及装置
WO2022143114A1 (zh) * 2020-12-31 2022-07-07 深圳市普渡科技有限公司 静态地图生成方法、装置、计算机设备及存储介质
CN115965682A (zh) * 2022-12-16 2023-04-14 镁佳(北京)科技有限公司 一种车辆可通行区域确定方法、装置及计算机设备
CN115965682B (zh) * 2022-12-16 2023-09-01 镁佳(北京)科技有限公司 一种车辆可通行区域确定方法、装置及计算机设备

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CN110278714B (zh) 2022-03-18
US20200349727A1 (en) 2020-11-05

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