KR20220060500A - 장애 검출 방법, 장치, 전자 기기, 저장 매체 및 컴퓨터 프로그램 - Google Patents

장애 검출 방법, 장치, 전자 기기, 저장 매체 및 컴퓨터 프로그램 Download PDF

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KR20220060500A
KR20220060500A KR1020217034499A KR20217034499A KR20220060500A KR 20220060500 A KR20220060500 A KR 20220060500A KR 1020217034499 A KR1020217034499 A KR 1020217034499A KR 20217034499 A KR20217034499 A KR 20217034499A KR 20220060500 A KR20220060500 A KR 20220060500A
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detected
area
parameter
specified
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KR1020217034499A
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잔펭 장
후이 쳉
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선전 센스타임 테크놀로지 컴퍼니 리미티드
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Publication of KR20220060500A publication Critical patent/KR20220060500A/ko

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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
    • G06N3/0454—
    • 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
    • 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
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/045—Combinations of networks
    • 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
    • G06T5/006—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • 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
    • G06T2207/10004—Still image; Photographic image
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computing Systems (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Biophysics (AREA)
  • General Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Molecular Biology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computational Linguistics (AREA)
  • Databases & Information Systems (AREA)
  • Medical Informatics (AREA)
  • Image Analysis (AREA)
  • Geometry (AREA)
KR1020217034499A 2020-10-28 2021-04-08 장애 검출 방법, 장치, 전자 기기, 저장 매체 및 컴퓨터 프로그램 KR20220060500A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202011172403.6A CN112183476B (zh) 2020-10-28 2020-10-28 一种障碍检测方法、装置、电子设备以及存储介质
CN202011172403.6 2020-10-28
PCT/CN2021/085927 WO2022088611A1 (zh) 2020-10-28 2021-04-08 障碍检测方法、装置、电子设备、存储介质及计算机程序

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KR20220060500A true KR20220060500A (ko) 2022-05-11

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JP (1) JP2023503747A (zh)
KR (1) KR20220060500A (zh)
CN (1) CN112183476B (zh)
WO (1) WO2022088611A1 (zh)

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CN112183476B (zh) * 2020-10-28 2022-12-23 深圳市商汤科技有限公司 一种障碍检测方法、装置、电子设备以及存储介质
CN112711263A (zh) * 2021-01-19 2021-04-27 未来机器人（深圳）有限公司 仓储自动导引车避障方法、装置、计算机设备和存储介质
WO2022188333A1 (zh) * 2021-03-09 2022-09-15 美智纵横科技有限责任公司 一种行走方法、装置和计算机存储介质
CN112966658A (zh) * 2021-03-30 2021-06-15 深圳市优必选科技股份有限公司 机器人导航方法、装置、终端设备及计算机可读存储介质
CN115376109B (zh) * 2022-10-25 2023-03-24 杭州华橙软件技术有限公司 障碍物检测方法、障碍物检测装置以及存储介质

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JP5635770B2 (ja) * 2009-12-24 2014-12-03 京セラ株式会社 障害物検出装置
CN105115490A (zh) * 2015-07-16 2015-12-02 深圳前海达闼科技有限公司 一种确定室内可活动区域的方法及装置
KR101690511B1 (ko) * 2015-09-14 2016-12-28 주식회사 서연전자 자율 주행 차량의 제어 시스템 및 그 제어 방법
CN110246142A (zh) * 2019-06-14 2019-09-17 深圳前海达闼云端智能科技有限公司 一种检测障碍物的方法、终端和可读存储介质
CN110502019A (zh) * 2019-09-06 2019-11-26 北京云迹科技有限公司 一种室内机器人的避障方法及装置
CN110974088B (zh) * 2019-11-29 2021-09-24 深圳市杉川机器人有限公司 扫地机器人控制方法、扫地机器人及存储介质
CN111126251B (zh) * 2019-12-20 2022-08-02 深圳市商汤科技有限公司 图像处理方法、装置、设备和存储介质
CN111462135B (zh) * 2020-03-31 2023-04-21 华东理工大学 基于视觉slam与二维语义分割的语义建图方法
CN112183476B (zh) * 2020-10-28 2022-12-23 深圳市商汤科技有限公司 一种障碍检测方法、装置、电子设备以及存储介质

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JP2023503747A (ja) 2023-02-01
WO2022088611A1 (zh) 2022-05-05
CN112183476B (zh) 2022-12-23

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