CN115552348A - 移动目标跟随方法、机器人和计算机可读存储介质 - Google Patents

移动目标跟随方法、机器人和计算机可读存储介质 Download PDF

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Publication number
CN115552348A
CN115552348A CN202280003945.1A CN202280003945A CN115552348A CN 115552348 A CN115552348 A CN 115552348A CN 202280003945 A CN202280003945 A CN 202280003945A CN 115552348 A CN115552348 A CN 115552348A
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target
robot
detection result
leg
preset
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郭德骏
周庭硕
沈扬
谭欢
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Ubtech Robotics Corp
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Ubtech Robotics Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0253—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 relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/172—Classification, e.g. identification
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/16—Human faces, e.g. facial parts, sketches or expressions
    • G06V40/161—Detection; Localisation; Normalisation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
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  • General Engineering & Computer Science (AREA)
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  • Evolutionary Computation (AREA)
  • Computational Linguistics (AREA)
  • Biomedical Technology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明提供了一种移动目标跟随方法、机器人和计算机可读存储介质，该机器人包括电耦合到所述一个或多个处理器的相机和传感器，该方法包括：基于该相机获取的图像对一目标的身体进行身体检测，以获得身体检测结果；基于该传感器获取的数据对该目标的腿部进行腿部检测，以获得腿部检测结果；和融合该身体检测结果和该腿部检测结果，以得到融合结果，并基于该融合结果控制该机器人跟随该目标。通过将相机与其他传感器相结合，可以将相机与其他传感器的优势相结合，提高对被跟随目标的探测和跟踪精度，可以有效避免跟错人而丢失目标的情况。

Description

PCT国内申请，说明书已公开。

Claims (11)

  1. PCT国内申请，权利要求书已公开。
CN202280003945.1A 2021-04-25 2022-03-31 移动目标跟随方法、机器人和计算机可读存储介质 Pending CN115552348A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US17/239,603 2021-04-25
US17/239,603 US20220350342A1 (en) 2021-04-25 2021-04-25 Moving target following method, robot and computer-readable storage medium
PCT/CN2022/084266 WO2022228019A1 (zh) 2021-04-25 2022-03-31 移动目标跟随方法、机器人和计算机可读存储介质

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CN115552348A true CN115552348A (zh) 2022-12-30

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US (1) US20220350342A1 (zh)
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WO (1) WO2022228019A1 (zh)

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CN115965628B (zh) * 2023-03-16 2023-06-02 湖南大学 一种工件涂装质量在线动态检测方法及检测系统
CN116300409B (zh) * 2023-05-17 2023-08-15 季华实验室 一种轨迹跟踪控制方法、装置、电子设备及存储介质

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KR20140049152A (ko) * 2012-10-16 2014-04-25 한국전자통신연구원 사람 추종 방법 및 로봇 장치
US9661470B1 (en) * 2015-10-05 2017-05-23 Google Inc. Methods and systems for locating an actor within an environment
JP7017025B2 (ja) * 2017-03-08 2022-02-08 日本電気株式会社 自律移動ロボット、自律移動ロボットの制御方法および制御プログラム
CN108334098B (zh) * 2018-02-28 2018-09-25 弗徕威智能机器人科技（上海）有限公司 一种基于多传感器的人体跟随方法
CN109947119B (zh) * 2019-04-23 2021-06-29 东北大学 一种基于多传感器融合的移动机器人自主跟随方法
CN111144207B (zh) * 2019-11-21 2023-07-07 东南大学 一种基于多模态信息感知的人体检测和跟踪方法
CN111603172A (zh) * 2020-06-03 2020-09-01 上海金矢机器人科技有限公司 一种基于激光雷达的通用步态测量方法及系统
US11772265B2 (en) * 2020-08-20 2023-10-03 Bear Robotics, Inc. Method, system, and non-transitory computer-readable recording medium for controlling movement of a robot
JP2022059972A (ja) * 2020-10-02 2022-04-14 本田技研工業株式会社 認識対象者の認識方法
WO2022086161A1 (ko) * 2020-10-20 2022-04-28 삼성전자주식회사 로봇 및 그 제어 방법
CN114612929A (zh) * 2020-12-08 2022-06-10 山东新松工业软件研究院股份有限公司 基于信息融合的人体跟踪方法、系统及可读存储介质

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WO2022228019A1 (zh) 2022-11-03

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