CN112703504A - Object identification method and device, electronic equipment and computer readable storage medium - Google Patents
Object identification method and device, electronic equipment and computer readable storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses an object identification method, an object identification device, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring an initial position image, and identifying a target object in the initial position image, wherein the initial position image comprises the target object; determining a first distance between the target object and the initial position image; and determining a target position according to the first distance, and executing preset operation after the target position is reached. The technical scheme has the advantages of low requirement on the performance of the camera, short processing time and high identification accuracy, and can simultaneously identify a plurality of target objects to obtain the accurate distance between the target objects.
Description
The invention relates to the technical field of data processing, in particular to an object identification method, an object identification device, electronic equipment and a computer-readable storage medium.
With the development of data technology and the progress of society, robots are more and more widely used, such as learning robots, toy robots, and the like. Most robots need to correctly identify objects in the visual field range to judge subsequent execution operations.
In the prior art, an image matching technology or an RFID (radio frequency identification) identification technology is mostly adopted for identifying objects, wherein the image matching technology is used for acquiring images through a camera, and matching the processed images with known images in a category library through the image matching technology to finish the identification of the objects; the RFID identification technology is to attach different RFID tags to different objects, and an RFID detector determines the category of the object by scanning the different RFID tags.
However, for the image matching technology, because the high-performance camera used by the image matching technology is expensive, and the image matching technology is greatly influenced by the illumination intensity and the pixel quality, in a complex environment, the identification effect of the object is poor, and meanwhile, the image matching process is long, when one image contains a plurality of objects, fine distinction cannot be well made, and the actual distance between the object and the robot is difficult to locate. With RFID identification technology, although it is possible to distinguish between object types, it is impossible to know the specific location of an object, and when a plurality of objects approach an RFID detector, multi-location identification can be performed only by means of other sensors. Therefore, none of the above prior art techniques can meet the various needs of the market for object identification.
Disclosure of Invention
The embodiment of the invention provides an object identification method, an object identification device, electronic equipment and a computer readable storage medium.
In a first aspect, an embodiment of the present invention provides an object identification method.
Specifically, the object identification method includes:
acquiring an initial position image, and identifying a target object in the initial position image, wherein the initial position image comprises the target object;
determining a first distance between the target object and the initial position image;
and determining a target position according to the first distance, and executing preset operation after the target position is reached.
With reference to the first aspect, in a first implementation manner of the first aspect, the determining a first distance to the target object according to the initial position image includes:
determining the position of the target object according to the initial position image;
acquiring a target object image according to the position of the target object;
determining a first distance to the target object according to the target object image.
With reference to the first aspect and the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the acquiring an image of a target object according to a position of the target object includes:
adjusting the angle of an image acquisition window according to the position of the target object to enable the target image to be at a preset position in the image acquisition window;
and when the target image is at a preset position in the image acquisition window, acquiring the target object image.
With reference to the first aspect, the first implementation manner of the first aspect, and the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the determining a target position according to the first distance, and performing a preset operation after the target position is reached includes:
determining a second distance according to the first distance, wherein the second distance is smaller than the first distance;
acquiring an initial position;
determining the target position according to the initial position and the second distance;
in response to reaching the target position, a preset operation is performed.
With reference to the first aspect, the first implementation manner of the first aspect, the second implementation manner of the first aspect, and the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the executing a preset operation in response to reaching the target position includes:
acquiring a target position image, and determining a third distance between the target position image and the target object according to the target position image, wherein the target position image comprises the target object;
when the third distance, the first distance and the second distance meet a preset distance condition, determining to reach a target position;
in response to reaching the target position, a preset operation is performed.
With reference to the first aspect, the first implementation manner of the first aspect, the second implementation manner of the first aspect, the third implementation manner of the first aspect, and the fourth implementation manner of the first aspect, in a fifth implementation manner of the first aspect of the present disclosure, the preset operation includes one or more of the following operations: playing preset audio, playing preset video, triggering preset action and displaying preset content.
In a second aspect, an embodiment of the present invention provides an object recognition apparatus.
Specifically, the object recognition apparatus includes:
the identification module is configured to acquire an initial position image and identify a target object in the initial position image, wherein the initial position image comprises the target object;
a determination module configured to determine a first distance to the target object from the initial position image;
and the execution module is configured to determine a target position according to the first distance and execute preset operation after reaching the target position.
With reference to the second aspect, in a first implementation manner of the second aspect, the determining module includes:
a first determination submodule configured to determine a position of the target object from the initial position image;
a first acquisition sub-module configured to acquire a target object image according to a position of the target object;
a second determination submodule configured to determine a first distance to the target object from the target object image.
With reference to the second aspect and the first implementation manner of the second aspect, in a second implementation manner of the second aspect, an embodiment of the present invention includes:
the adjusting sub-module is configured to adjust the angle of an image acquisition window according to the position of the target object, so that the target image is at a preset position in the image acquisition window;
a second obtaining sub-module configured to obtain the target object image when the target image is at a preset position in the image capture window.
With reference to the second aspect, the first implementation manner of the second aspect, and the second implementation manner of the second aspect, in a third implementation manner of the second aspect, the executing module includes:
a third determination submodule configured to determine a second distance from the first distance, wherein the second distance is smaller than the first distance;
a third obtaining submodule configured to obtain an initial position;
a fourth determination submodule configured to determine the target position according to the initial position and the second distance;
a first execution submodule configured to execute a preset operation in response to reaching the target position.
With reference to the second aspect, the first implementation manner of the second aspect, the second implementation manner of the second aspect, and the third implementation manner of the second aspect, in a fourth implementation manner of the second aspect, the first execution submodule includes:
a fifth determining sub-module, configured to acquire a target position image, and determine a third distance to the target object according to the target position image, where the target position image includes the target object;
a sixth determining submodule configured to determine that the target position is reached when the third distance and the first and second distances satisfy a preset distance condition;
and the second execution sub-module is configured to execute a preset operation in response to the target position being reached.
With reference to the second aspect, the first implementation manner of the second aspect, the second implementation manner of the second aspect, the third implementation manner of the second aspect, and the fourth implementation manner of the second aspect, in a fifth implementation manner of the second aspect, the preset operation includes one or more of the following operations: playing preset audio, playing preset video, triggering preset action and displaying preset content.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory is used to store one or more computer instructions for supporting an object recognition apparatus to execute the object recognition method in the first aspect, and the processor is configured to execute the computer instructions stored in the memory. The object recognition apparatus may further include a communication interface for the object recognition apparatus to communicate with other devices or a communication network.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing computer instructions for an object recognition apparatus, where the computer instructions include computer instructions for executing the object recognition method in the first aspect as an object recognition apparatus.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
according to the technical scheme, the target object is identified according to the image acquired by the camera by adopting a machine learning mechanism. The technical scheme has the advantages of low requirement on the performance of the camera, short processing time and high identification accuracy, and can simultaneously identify a plurality of target objects to obtain the accurate distance between the target objects.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of embodiments of the invention.
Other features, objects and advantages of embodiments of the invention will become more apparent from the following detailed description of non-limiting embodiments thereof, when taken in conjunction with the accompanying drawings. In the drawings:
FIG. 1 illustrates a flow diagram of an object recognition method according to an embodiment of the invention;
fig. 2 shows a flow chart of step S102 of the object recognition method according to the embodiment shown in fig. 1;
fig. 3 shows a flow chart of step S202 of the object recognition method according to the embodiment shown in fig. 2;
fig. 4 shows a flow chart of step S103 of the object recognition method according to the embodiment shown in fig. 1;
fig. 5 shows a flowchart of step S404 of the object recognition method according to the embodiment shown in fig. 4;
fig. 6 is a block diagram illustrating a structure of an object recognition apparatus according to an embodiment of the present invention;
fig. 7 illustrates a block diagram of the determining module 602 of the object recognition apparatus according to the embodiment illustrated in fig. 6;
fig. 8 is a block diagram showing a structure of a first acquisition sub-module 702 of the object recognition apparatus according to the embodiment shown in fig. 7;
fig. 9 is a block diagram illustrating the structure of an execution module 603 of the object recognition apparatus according to the embodiment illustrated in fig. 6;
fig. 10 is a block diagram showing a first execution submodule 904 of the object recognition apparatus according to the embodiment shown in fig. 9;
FIG. 11 shows a block diagram of an electronic device according to an embodiment of the invention;
fig. 12 is a schematic structural diagram of a computer system suitable for implementing an object recognition method according to an embodiment of the present invention.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.
In the embodiments of the present invention, it is to be understood that terms such as "including" or "having", etc., are intended to indicate the presence of the features, numbers, steps, actions, components, parts, or combinations thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof may be present or added.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The technical scheme provided by the embodiment of the invention adopts a machine learning mechanism to identify the target object according to the image acquired by the camera. The technical scheme has the advantages of low requirement on the performance of the camera, short processing time and high identification accuracy, and can simultaneously identify a plurality of target objects to obtain the accurate distance between the target objects.
Fig. 1 shows a flowchart of an object recognition method according to an embodiment of the present invention, which may be used in a robot terminal, as shown in fig. 1, the object recognition method including the following steps S101-S103:
in step S101, an initial position image is acquired, and a target object in the initial position image is identified, where the initial position image includes the target object;
in step S102, determining a first distance to the target object according to the initial position image;
in step S103, a target position is determined according to the first distance, and a preset operation is performed after the target position is reached.
As mentioned above, with the development of data technology and the advancement of society, robots are more and more widely used, and most robots need to correctly identify objects in the field of view to determine the subsequent execution operation. However, the object identification technology in the prior art has many defects, and cannot meet various requirements of the market for object identification.
In view of the above problem, in this embodiment, an object recognition method is proposed, which uses a machine learning mechanism to recognize a target object from an image acquired by a camera. The technical scheme has the advantages of low requirement on the performance of the camera, short processing time and high identification accuracy, and can simultaneously identify a plurality of target objects to obtain the accurate distance between the target objects.
The initial position image refers to an image acquired by the robot at a current initial position, wherein the initial position image contains a target object. It should be noted that, when the robot is at the initial position, the target object is located within the image capturing range, but the position relation with the robot is uncertain, that is, the target object may be directly facing the robot and located at the optimal position relative to the robot, but may be located at other positions.
Wherein the first distance refers to a distance between the robot and the target object determined according to the initial position image, and the distance is subsequently used for determining a moving distance of the robot so that the robot can reach a target position at a certain distance from the target object.
In an alternative implementation manner of this embodiment, as shown in fig. 2, the step S102 of determining the first distance to the target object according to the initial position image includes the following steps S201 to S203:
in step S201, determining a position of the target object from the initial position image;
in step S202, a target object image is acquired according to the position of the target object;
in step S203, a first distance to the target object is determined according to the target object image.
In order to determine the precise distance between the robot and the target object, in this embodiment, an image in which the target object is the main subject is further acquired. Specifically, the position of the target object is firstly determined according to the initial position image; then acquiring a target object image according to the position of the target object; and finally, determining a first distance between the target object and the target object according to the target object image.
The position of the target object may be a specific geographic position of the target object, or a position relationship between the target object and the robot, as long as the robot can adjust the angle of the image capturing window according to the position information, so that the target image is located at a preset position in the image capturing window.
In an optional implementation manner of this embodiment, the position of the target object may be calculated according to an initial position of the robot, a pixel position of the target object in the initial position image, and calibration data of the robot image acquisition device, and a method for determining the position of the target object according to the initial position image belongs to the prior art, and details thereof are not described in the present invention.
After acquiring the target object image, a first distance between the robot and the target object may be determined from the target object image. For example, similar to the method for determining the position of the target object according to the initial position image, the position of the target object in the target object image can be calculated according to the initial position of the robot, the pixel position of the target object in the target object image, and the calibration data of the robot image acquisition device, and then the first distance between the robot and the target object can be calculated according to the position of the target object and the position of the robot.
In an alternative implementation manner of this embodiment, as shown in fig. 3, the step S202 of acquiring the target object image according to the position of the target object includes the following steps S301 to S302:
in step S301, adjusting an angle of an image capture window according to the position of the target object, so that the target image is located at a preset position in the image capture window;
in step S302, when the target image is at a preset position in the image capturing window, the target object image is acquired.
As mentioned above, when the robot is at the initial position, the target object is located within the image capturing range, but the position relationship with the robot is uncertain, that is, the target object may be directly facing the robot and located at the optimal position relative to the robot, but may be located at other positions, so that, in order to obtain the accurate position of the target object and the accurate distance between the robot and the target object, in this embodiment, the angle of the image capturing window is also adjusted according to the position of the target object, the robot is moved to the preset position where the target image is located in the image capturing window, and then the target object image is obtained.
In an optional implementation manner of this embodiment, the preset position may be, for example, a central area of the image capturing window, that is, the target object is located in the central area of the image capturing window, where the size of the central area may be set by a person skilled in the art according to a requirement of an actual application and a characteristic of the target object, and the present invention is not limited in particular.
In an optional implementation manner of this embodiment, as shown in fig. 4, the step S103 of determining the target position according to the first distance and performing a preset operation after reaching the target position includes the following steps S401 to S404:
in step S401, determining a second distance according to the first distance, wherein the second distance is smaller than the first distance;
in step S402, an initial position is acquired;
in step S403, determining the target position according to the initial position and the second distance;
in step S404, in response to reaching the target position, a preset operation is performed.
In order to accurately determine the position of the robot and accurately judge whether the robot reaches a target position at a certain distance from a target object, in the embodiment, a plurality of distances are calculated to confirm the target position by using the relationship between the plurality of distances. Specifically, first, a second distance is determined according to the first distance, where the second distance refers to a distance that the robot moves toward the target object, and in an optional implementation manner of this embodiment, it is considered that the robot needs to perform image acquisition on the target object, and therefore, needs to be a certain distance away from the target object and cannot be in close contact with the target object, and therefore, the second distance is smaller than the first distance, and a distance difference between the first distance and the second distance is the certain distance; acquiring an initial position of the robot; determining the target position according to the initial position and the second distance, wherein the target position is a position which is a second distance away from the initial position; in response to reaching the target position, a preset operation is performed.
In an alternative implementation manner of this embodiment, as shown in fig. 5, the step S404, that is, the step of executing the preset operation in response to reaching the target position, includes the following steps S501 to S503:
in step S501, a target position image is obtained, and a third distance to the target object is determined according to the target position image, where the target position image includes the target object;
in step S502, when the third distance, the first distance and the second distance satisfy a preset condition, determining that the target position is reached;
in step S503, in response to reaching the target position, a preset operation is performed.
In order to further accurately judge whether the robot has reached a target position at a distance from the target object, in this embodiment, the target position is confirmed using a relationship between a plurality of distances. Specifically, firstly, a target position image is obtained at a target position, and a third distance between the target position image and the target object is determined according to the target position image; when the third distance, the first distance and the second distance meet a preset distance condition, determining to reach a target position; then, in response to reaching the target position, a preset operation is performed.
In an optional implementation manner of this embodiment, when determining the third distance to the target object according to the target position image, the position of the target object may be determined according to the target position image, and then the third distance between the robot and the target object may be determined according to the position of the target object and the position of the robot, where the third distance is smaller than or equal to a distance difference between the first distance and the second distance, and if a volume factor of the robot and the target object is considered, the third distance is necessarily smaller than the distance difference between the first distance and the second distance.
Considering that the requirement of the robot image acquisition for the distance can be embodied as a range, in an optional implementation manner of this embodiment, the preset distance condition may be set that the third distance is smaller than the distance difference between the first distance and the second distance and is within the preset distance range, for example, if the distance difference between the first distance and the second distance is 0.8m, the preset distance condition may be set that the third distance is smaller than 0.8m and is between 0.4 and 0.8 m.
In an optional implementation manner of this embodiment, the preset operation may include one or more of the following operations: playing preset audio, playing preset video, triggering preset action and displaying preset content. Wherein, the preset audio, the preset video, the preset action and the preset content are all related to the target object, for example, if the target object is a ball, when the robot reaches a position 0.5m away from the ball through the above process, the audio can be played: the user can play a video related to the ball, trigger a winning action, and display the contents of the ball, i.e. the ball is found, and the like. It should be noted that the specific information of the preset audio, the preset action, and the preset content may be set according to the needs of the actual application, and the present invention is not limited thereto.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention.
Fig. 6 is a block diagram illustrating an object recognition apparatus according to an embodiment of the present invention, which may be implemented as part or all of an electronic device by software, hardware, or a combination of both. As shown in fig. 6, the object recognition apparatus includes:
the identification module 601 is configured to acquire an initial position image and identify a target object in the initial position image, wherein the initial position image includes the target object;
a determining module 602 configured to determine a first distance to the target object from the initial position image;
and the execution module 603 is configured to determine a target position according to the first distance, and execute a preset operation after the target position is reached.
As mentioned above, with the development of data technology and the advancement of society, robots are more and more widely used, and most robots need to correctly identify objects in the field of view to determine the subsequent execution operation. However, the object identification technology in the prior art has many defects, and cannot meet various requirements of the market for object identification.
In view of the above problem, in this embodiment, an object recognition apparatus is proposed, which uses a machine learning mechanism to recognize a target object from an image captured by a camera. The technical scheme has the advantages of low requirement on the performance of the camera, short processing time and high identification accuracy, and can simultaneously identify a plurality of target objects to obtain the accurate distance between the target objects.
The initial position image refers to an image acquired by the robot at a current initial position, wherein the initial position image contains a target object. It should be noted that, when the robot is at the initial position, the target object is located within the image capturing range, but the position relationship with the robot is uncertain, that is, the target object may be directly facing the robot and located at the optimal position relative to the robot, but may also be located at other positions.
Wherein the first distance refers to a distance between the robot and the target object determined according to the initial position image, and the distance is subsequently used for determining a moving distance of the robot so that the robot can reach a target position at a certain distance from the target object.
In an optional implementation manner of this embodiment, as shown in fig. 7, the determining module 602 includes:
a first determining sub-module 701 configured to determine a position of the target object from the initial position image;
a first acquisition sub-module 702 configured to acquire a target object image according to a position of the target object;
a second determining sub-module 703 configured to determine a first distance to the target object from the target object image.
In order to determine the precise distance between the robot and the target object, in this embodiment, an image in which the target object is the main subject is further acquired. Specifically, the first determining submodule 701 determines the position of the target object according to the initial position image; the first obtaining sub-module 702 obtains a target object image according to the position of the target object; the second determining sub-module 703 determines a first distance to the target object from the target object image.
The position of the target object may be a specific geographic position of the target object, or a position relationship between the target object and the robot, as long as the robot can adjust the angle of the image capturing window according to the position information, so that the target image is located at a preset position in the image capturing window.
In an optional implementation manner of this embodiment, the position of the target object may be calculated according to an initial position of the robot, a pixel position of the target object in the initial position image, and calibration data of the robot image acquisition device, and a method for determining the position of the target object according to the initial position image belongs to the prior art, and details thereof are not described in the present invention.
After the first acquiring sub-module 702 acquires the target object image, the second determining sub-module 703 may determine the first distance between the robot and the target object according to the target object image. For example, similar to the method for determining the position of the target object according to the initial position image, the position of the target object in the target object image can be calculated according to the initial position of the robot, the pixel position of the target object in the target object image, and the calibration data of the robot image acquisition device, and then the first distance between the robot and the target object can be calculated according to the position of the target object and the position of the robot.
In an optional implementation manner of this embodiment, as shown in fig. 8, the first obtaining sub-module 702 includes:
an adjusting sub-module 801 configured to adjust an angle of an image capturing window according to a position of the target object, so that the target image is at a preset position in the image capturing window;
a second obtaining sub-module 802 configured to obtain the target object image when the target image is at a preset position in the image capturing window.
As mentioned above, when the robot is at the initial position, the target object is located within the image capturing range, but the position relationship with the robot is uncertain, that is, the target object may be directly facing the robot and located at the optimal position relative to the robot, but may be located at other positions, so that, in order to obtain the accurate position of the target object and the accurate distance between the robot and the target object, in this embodiment, the angle of the image capturing window is also adjusted according to the position of the target object, the robot is moved to the preset position where the target image is located in the image capturing window, and then the target object image is obtained.
In an optional implementation manner of this embodiment, the preset position may be, for example, a central area of the image capturing window, that is, the target object is located in the central area of the image capturing window, where the size of the central area may be set by a person skilled in the art according to a requirement of an actual application and a characteristic of the target object, and the present invention is not limited in particular.
In an optional implementation manner of this embodiment, as shown in fig. 9, the executing module 603 includes:
a third determining submodule 901 configured to determine a second distance from the first distance, wherein the second distance is smaller than the first distance;
a third obtaining submodule 902 configured to obtain an initial position;
a fourth determining submodule 903 configured to determine the target position according to the initial position and the second distance;
a first execution sub-module 904 configured to execute a preset operation in response to reaching the target position.
In order to accurately determine the position of the robot and accurately judge whether the robot reaches a target position at a certain distance from a target object, in the embodiment, a plurality of distances are calculated to confirm the target position by using the relationship between the plurality of distances. Specifically, the third determining sub-module 901 determines a second distance according to the first distance, where the second distance refers to a distance that the robot moves towards the target object, and in an optional implementation manner of this embodiment, it is considered that the robot needs to perform image acquisition on the target object, and therefore, needs to be a certain distance away from the target object and cannot be in close contact with the target object, and therefore, the second distance is smaller than the first distance, and a distance difference between the first distance and the second distance is the certain distance; the third obtaining submodule 902 obtains an initial position of the robot; the fourth determining submodule 903 determines the target position according to the initial position and the second distance, wherein the target position is a position which is a second distance away from the initial position; the first execution sub-module 904 executes a preset operation in response to reaching the target position.
In an optional implementation manner of this embodiment, as shown in fig. 10, the first execution sub-module 904 includes:
a fifth determining sub-module 1001 configured to acquire a target position image, and determine a third distance to the target object according to the target position image, where the target position image includes the target object;
a sixth determining sub-module 1002 configured to determine that the target position is reached when the third distance and the first and second distances satisfy a preset condition;
a second execution sub-module 1003 configured to execute a preset operation in response to reaching the target position.
In order to further accurately judge whether the robot has reached a target position at a distance from the target object, in this embodiment, the target position is confirmed using a relationship between a plurality of distances. Specifically, the fifth determination sub-module 1001 acquires a target position image at a target position, and determines a third distance to the target object according to the target position image; the sixth determining submodule 1002 determines that the target position is reached when the third distance, the first distance, and the second distance satisfy a preset distance condition; the second execution sub-module 1003 executes a preset operation in response to reaching the target position.
In an optional implementation manner of this embodiment, when the fifth determining sub-module 1001 determines the third distance to the target object according to the target position image, the fifth determining sub-module may determine the position of the target object according to the target position image, and then determine the third distance between the robot and the target object according to the position of the target object and the position of the robot, where the third distance is smaller than or equal to a distance difference between the first distance and the second distance, and if a volume factor of the robot and the target object is considered, the third distance is necessarily smaller than the distance difference between the first distance and the second distance.
Considering that the requirement of the robot image acquisition for the distance can be embodied as a range, in an optional implementation manner of this embodiment, the preset distance condition may be set that the third distance is smaller than the distance difference between the first distance and the second distance and is within the preset distance range, for example, if the distance difference between the first distance and the second distance is 0.8m, the preset distance condition may be set that the third distance is smaller than 0.8m and is between 0.4 and 0.8 m.
In an optional implementation manner of this embodiment, the preset operation may include one or more of the following operations: playing preset audio, playing preset video, triggering preset action and displaying preset content. Wherein, the preset audio, the preset video, the preset action and the preset content are all related to the target object, for example, if the target object is a ball, when the robot reaches a position 0.5m away from the ball through the above process, the audio can be played: the user can play a video related to the ball, trigger a winning action, and display the contents of the ball, i.e. the ball is found, and the like. It should be noted that the specific information of the preset audio, the preset action, and the preset content may be set according to the needs of the actual application, and the present invention is not limited thereto.
Fig. 11 is a block diagram illustrating a structure of an electronic device according to an embodiment of the present invention, and as shown in fig. 11, the electronic device 1100 includes a memory 1101 and a processor 1102; wherein the content of the first and second substances,
the memory 1101 is used to store one or more computer instructions that are executed by the processor 1102 to implement any of the method steps described above.
Fig. 12 is a schematic block diagram of a computer system suitable for implementing an object recognition method according to an embodiment of the present invention.
As shown in fig. 12, the computer system 1200 includes a Central Processing Unit (CPU)1201, which can execute various processes in the above-described embodiments according to a program stored in a Read Only Memory (ROM)1202 or a program loaded from a storage section 1208 into a Random Access Memory (RAM) 1203. In the RAM1203, various programs and data necessary for the operation of the system 1200 are also stored. The CPU1201, ROM1202, and RAM1203 are connected to each other by a bus 1204. An input/output (I/O) interface 1205 is also connected to bus 1204.
The following components are connected to the I/O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output portion 1207 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 1208 including a hard disk and the like; and a communication section 1209 including a network interface card such as a LAN card, a modem, or the like. The communication section 1209 performs communication processing via a network such as the internet. A driver 1210 is also connected to the I/O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, is mounted on the drive 1210 as necessary, so that a computer program read out therefrom is mounted into the storage section 1208 as necessary.
In particular, the above described method may be implemented as a computer software program according to an embodiment of the present invention. For example, embodiments of the invention include a computer program product comprising a computer program tangibly embodied on and readable medium thereof, the computer program comprising program code for performing the object recognition method. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 1209, and/or installed from the removable medium 1211.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.
As another aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium may be a computer-readable storage medium included in the apparatus in the foregoing embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the embodiments of the present invention.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention according to the embodiments of the present invention is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept. For example, the above features and (but not limited to) the features with similar functions disclosed in the embodiments of the present invention are mutually replaced to form the technical solution.
Claims (14)
- An object recognition method, comprising:acquiring an initial position image, and identifying a target object in the initial position image, wherein the initial position image comprises the target object;determining a first distance between the target object and the initial position image;and determining a target position according to the first distance, and executing preset operation after the target position is reached.
- The method of claim 1, wherein determining a first distance to the target object from the initial position image comprises:determining the position of the target object according to the initial position image;acquiring a target object image according to the position of the target object;determining a first distance to the target object according to the target object image.
- The method of claim 2, wherein the acquiring a target object image according to the position of the target object comprises:adjusting the angle of an image acquisition window according to the position of the target object to enable the target image to be at a preset position in the image acquisition window;and when the target image is at a preset position in the image acquisition window, acquiring the target object image.
- The method according to any one of claims 1-3, wherein said determining a target position based on said first distance and performing a predetermined operation upon reaching the target position comprises:determining a second distance according to the first distance, wherein the second distance is smaller than the first distance;acquiring an initial position;determining the target position according to the initial position and the second distance;in response to reaching the target position, a preset operation is performed.
- The method of claim 4, wherein the performing a preset operation in response to reaching the target location comprises:acquiring a target position image, and determining a third distance between the target position image and the target object according to the target position image, wherein the target position image comprises the target object;when the third distance, the first distance and the second distance meet a preset distance condition, determining to reach a target position;in response to reaching the target position, a preset operation is performed.
- The method according to any one of claims 1 to 5, wherein the preset operations comprise one or more of the following operations: playing preset audio, playing preset video, triggering preset action and displaying preset content.
- An object recognition apparatus, comprising:the identification module is configured to acquire an initial position image and identify a target object in the initial position image, wherein the initial position image comprises the target object;a determination module configured to determine a first distance to the target object from the initial position image;and the execution module is configured to determine a target position according to the first distance and execute preset operation after reaching the target position.
- The apparatus of claim 7, wherein the determining module comprises:a first determination submodule configured to determine a position of the target object from the initial position image;a first acquisition sub-module configured to acquire a target object image according to a position of the target object;a second determination submodule configured to determine a first distance to the target object from the target object image.
- The apparatus of claim 8, wherein the first acquisition submodule comprises:the adjusting sub-module is configured to adjust the angle of an image acquisition window according to the position of the target object, so that the target image is at a preset position in the image acquisition window;a second obtaining sub-module configured to obtain the target object image when the target image is at a preset position in the image capture window.
- The apparatus according to any one of claims 7-9, wherein the execution module comprises:a third determination submodule configured to determine a second distance from the first distance, wherein the second distance is smaller than the first distance;a third obtaining submodule configured to obtain an initial position;a fourth determination submodule configured to determine the target position according to the initial position and the second distance;a first execution submodule configured to execute a preset operation in response to reaching the target position.
- The apparatus of claim 10, wherein the first execution submodule comprises:a fifth determining sub-module, configured to acquire a target position image, and determine a third distance to the target object according to the target position image, where the target position image includes the target object;a sixth determining submodule configured to determine that the target position is reached when the third distance and the first and second distances satisfy a preset distance condition;and the second execution sub-module is configured to execute a preset operation in response to the target position being reached.
- The apparatus according to any of claims 7-11, wherein the preset operations comprise one or more of the following operations: playing preset audio, playing preset video, triggering preset action and displaying preset content.
- An electronic device comprising a memory and a processor; wherein the content of the first and second substances,the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any of claims 1-6.
- A computer-readable storage medium having stored thereon computer instructions, characterized in that the computer instructions, when executed by a processor, carry out the method steps of any of claims 1-6.
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| PCT/CN2018/110957 WO2020077608A1 (en) | 2018-10-19 | 2018-10-19 | Object recognition method and apparatus, electronic device, and computer readable storage medium |
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