CN101701828B - Blind autonomous navigation method based on stereoscopic vision and information fusion - Google Patents
Blind autonomous navigation method based on stereoscopic vision and information fusion Download PDFInfo
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Abstract
本发明涉及导航系统的技术领域，尤其是一种基于立体视觉和信息融合的盲人自主导航方法。左边图像与右边图像输出连接图像预处理，图像预处理输出连接图像分割，图像分割连接特征提取，特征提取输出连接立体匹配，立体匹配输出连接获取视差图，获取视差图输出连接获取深度图像和目标探测与标识，获取深度图像输出连接目标探测与标识，目标探测与标识输出连接目标尺寸、距离和方向参与计算，目标尺寸、距离和方向参与计算输出连接多传感器信息融合，多传感器信息融合输出连接语音输出障碍位置、大小、距离及方向等信息，超声波测距、电子罗盘测向和GPS定位输出连接多传感器信息融合。本发明的算法对于提高盲人的自主性和独立行走能力有很大的实用价值。
The invention relates to the technical field of navigation systems, in particular to an autonomous navigation method for blind people based on stereo vision and information fusion. The output of the left image and the right image is connected to image preprocessing, the output of image preprocessing is connected to image segmentation, the output of image segmentation is connected to feature extraction, the output of feature extraction is connected to stereo matching, the output of stereo matching is connected to obtain disparity map, and the output connection of obtaining disparity map is connected to obtain depth image and target Detection and identification, acquisition of depth image output connection target detection and identification, target detection and identification output connection target size, distance and direction participate in calculation, target size, distance and direction participate in calculation output connection multi-sensor information fusion, multi-sensor information fusion output connection Voice output obstacle position, size, distance and direction and other information, ultrasonic ranging, electronic compass direction finding and GPS positioning output connection multi-sensor information fusion. The algorithm of the invention has great practical value for improving the autonomy and independent walking ability of blind people.
Description
Technical field
The present invention relates to a kind of navigational system, relate in particular to a kind of blind autonomous navigation method based on stereoscopic vision and information fusion.
Background technology
There are up to ten million disadvantaged group in China; When going on a journey, they can face various complicacies, changeable traffic environment; Various barriers in increasing motor vehicles, the road all will threaten blind person's trip; Blind person's trip is walking for one type, and one type is long journey by bus, and blind person's walking needs a navigating instrument or the dog of navigating.
Stereoscopic vision (stereo vision) is one of core technology of computer vision, but utilizes its construction to go out the depth information of object in image in the environment.Binocular vision is at present by a kind of three-dimensional sensory perceptual system of extensive concern, and it has compact conformation, energy consumption is little, quantity of information is abundant, higher advantages such as recognition accuracy.But be subject to the influence of environment light source and veil based on the guide accessory of stereoscopic vision method design; The noise that three-dimensional coupling produces makes the main target thing be difficult for and background separation; Cause the barrier False Rate to increase, and the target depth information of obtaining often exist than mistake.Ultrasonic sensor has higher range sensing precision, but in complex environment, uses limited.Present guide accessory is many to be main with above-mentioned a kind of among both, combines other sensor to carry out the detection of barrier again, lacks the independent navigation algorithm that the advantage of effectively utilizing different sensors is had complementary advantages.
Summary of the invention
The technical matters that the present invention will solve is: the independent navigation algorithm that present blind man navigation appearance shortage effectively utilizes the advantage of different sensors to have complementary advantages provides a kind of blind autonomous navigation method based on stereoscopic vision and information fusion.
In order to overcome the defective that exists in the background technology; The technical solution adopted for the present invention to solve the technical problems is: the present invention includes bottom layer driving and data communication module, embedded hardware platform, I/O interface driver module and Linux real time operating system; It mainly comprises stereoscopic vision and multi-sensor information fusion aspect; And follow these steps to carry out: left image and right image output connection layout are as pre-service, and image pre-service output connects image segmentation, and the image segmentation connection features is extracted; Feature extraction output connects three-dimensional coupling; The output of solid coupling connects obtains disparity map, obtains disparity map output connection and obtains depth image and target detection and sign, obtains depth image output linking objective and surveys and sign; Target detection is calculated with sign output linking objective size, distance and direction parameter; Target size, distance and direction are participated in calculating output and are connected multi-sensor information fusion, and multi-sensor information fusion output connects information such as voice output obstacle location, size, distance and direction, and ultrasonic ranging, electronic compass direction finding and the output of GPS location are connected multi-sensor information fusion.
According to another embodiment of the invention, comprise that further said image pre-service comprises image filtering, figure image intensifying, image calibration, colour correction.
According to another embodiment of the invention; Comprise that further the fixed threshold that said image segmentation is based on the HSV color space cuts apart; Methods such as rim detection and region template coupling split the road surface in the image; And pass through shape filtering noise piece and other are suspected the target rejecting, adopt the chain code following algorithm to be communicated with block analysis (claiming that also Blob analyzes) then.
According to another embodiment of the invention, comprise that further said feature extraction is in left and right two width of cloth images, to extract common characteristic.
According to another embodiment of the invention; Comprise that further said three-dimensional coupling is based on characteristic, zone and relevant matches and finds the corresponding relation between two width of cloth images, utilize SIFT algorithm (having brightness, translation, rotation and yardstick unchangeability) to realize the registration of the image that left and right cameras is obtained simultaneously.
According to another embodiment of the invention, comprise that further the said disparity map that obtains is through it being carried out level and smooth and classification, can draw the disparity map of road surface and barrier, utilizing the latter to obtain the depth information of barrier.
According to another embodiment of the invention, comprise that further the said depth image that obtains is according to parallax and geometric relationship, obtain the target three-dimensional information.
According to another embodiment of the invention, comprise that further said target detection is the same with the parallax value of sign and barrier, utilization is obtained disparity map and is identified barrier.
According to another embodiment of the invention, comprise that further it is after obtaining target location coordinate that said target size, distance and direction parameter calculate, obtain its corresponding piece, and then estimate distance, size and the direction parameter of barrier.
According to another embodiment of the invention; Comprise that further said multi-sensor information fusion is based on stereoscopic vision and obtains the relative position of barrier, direction, size and distance; The range information that obtains in conjunction with ultrasonic sensor; The absolute location information that directional information that electronic compass obtains and GPS obtain further improves range sensing precision and location, the capacity of orientation of blind guiding system.
The invention has the beneficial effects as follows: algorithm of the present invention can improve the performance of blind guiding system, have great practical value for the independence and the independent ambulation ability that improve the blind person.Can improve blind person's life, work quality effectively, enlarge the crowd who links up, expansion blind person's the world adapts to the development of information society, and application prospect is obvious, and economic benefit and social benefit are considerable.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Fig. 1 is an algorithm flow synoptic diagram of the present invention;
Fig. 2 is a system software synoptic diagram of the present invention.
Embodiment
Combine accompanying drawing and preferred embodiment that the present invention is done further detailed explanation now.These accompanying drawings are the synoptic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only show the formation relevant with the present invention.
Fig. 2 is a system software synoptic diagram of the present invention; Build system software structure based on embedded hardware platform and Linux real time operating system among the figure, mainly be divided into multi-sensor data collection, data communication and transmitting and storing, information processing and fusion, information demonstration and user interface several sections.The navigation algorithm major side focuses on stereoscopic vision and multi-sensor information fusion aspect; Algorithm flow chart is as shown in Figure 1; Mainly comprise left image and right image output connection layout among the figure as pre-service, image pre-service output connects image segmentation, and the image segmentation connection features is extracted; Feature extraction output connects three-dimensional coupling; The output of solid coupling connects obtains disparity map, obtains disparity map output connection and obtains depth image and target detection and sign, obtains depth image output linking objective and surveys and sign; Target detection is calculated with sign output linking objective size, distance and direction parameter; Target size, distance and direction are participated in calculating output and are connected multi-sensor information fusion, and multi-sensor information fusion output connects information such as voice output obstacle location, size, distance and direction, and ultrasonic ranging, electronic compass direction finding and the output of GPS location are connected multi-sensor information fusion.
The present invention comprises the steps: that mainly the image pre-service comprises image filtering, figure image intensifying, image calibration, colour correction; The fixed threshold that image segmentation is based on the HSV color space is cut apart; Methods such as rim detection and region template coupling split the road surface in the image; And pass through shape filtering noise piece and other are suspected the target rejecting, adopt the chain code following algorithm to be communicated with block analysis (claiming that also Blob analyzes) then; Feature extraction is in left and right two width of cloth images, to extract common characteristic; Three-dimensional coupling is based on characteristic, zone and relevant matches and finds the corresponding relation between two width of cloth images, and SIFT algorithm capable of using (having brightness, translation, rotation and yardstick unchangeability) is realized the registration of the image that left and right cameras is obtained simultaneously; Obtaining disparity map is through it being carried out level and smooth and classification, can draw the disparity map of road surface and barrier, utilizing the latter to obtain the depth information of barrier; Obtaining depth image is according to parallax and geometric relationship, obtains the target three-dimensional information; Target detection is the same with the parallax value of sign and barrier, and the disparity map that obtains capable of using identifies barrier; Calculation of parameter is after obtaining target location coordinate, can obtain its corresponding piece, and then estimates distance, size and the direction parameter of barrier; Multi-sensor information fusion is based on stereoscopic vision and obtains the relative position of barrier, direction, size and distance; The range information that obtains in conjunction with ultrasonic sensor; The absolute location information that directional information that electronic compass obtains and GPS obtain further improves range sensing precision and location, the capacity of orientation of blind guiding system; Information output: obtain position, size, shape, the distance of barrier, the information of direction, and point out the user with the voice or the vibration way of output.
Algorithm of the present invention can improve the performance of blind guiding system, have great practical value for the independence and the independent ambulation ability that improve the blind person.Can improve blind person's life, work quality effectively, enlarge the crowd who links up, expansion blind person's the world adapts to the development of information society, and application prospect is obvious, and economic benefit and social benefit are considerable.
With above-mentioned foundation desirable embodiment of the present invention is enlightenment, and through above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the instructions, must confirm its technical scope according to the claim scope.
Claims (1)
1. blind autonomous navigation method based on stereoscopic vision and information fusion; Comprise bottom layer driving and data communication module, embedded hardware platform, I/O interface driver module and Linux real time operating system; It is characterized in that: it mainly comprises stereoscopic vision and multi-sensor information fusion aspect; And follow these steps to carry out: left image and right image output connection layout are as pre-service, and image pre-service output connects image segmentation, and the image segmentation connection features is extracted; Feature extraction output connects three-dimensional coupling; The output of solid coupling connects obtains disparity map, obtains disparity map output connection and obtains depth image and target detection and sign, obtains depth image output linking objective and surveys and sign; Target detection is calculated with sign output linking objective size, distance and direction parameter; Target size, distance and direction parameter calculate output and are connected multi-sensor information fusion, and multi-sensor information fusion output connects the information of voice output barrier position, size, distance and direction, and ultrasonic ranging, electronic compass direction finding and the output of GPS location are connected multi-sensor information fusion; Said image pre-service comprises image filtering, figure image intensifying, image calibration, colour correction; The fixed threshold that said image segmentation is based on the HSV color space is cut apart; The method of rim detection and region template coupling splits the road surface in the image; And pass through shape filtering noise piece and other are suspected the target rejecting, adopt the chain code following algorithm to be communicated with block analysis then; Said feature extraction is in left and right two width of cloth images, to extract common characteristic; Said three-dimensional coupling is based on characteristic, zone and relevant matches and finds the corresponding relation between two width of cloth images, utilizes the SIFT algorithm to realize the registration of the image that left and right cameras is obtained simultaneously; The said disparity map that obtains is through it being carried out level and smooth and classification, can draw the disparity map of road surface and barrier, utilizing the latter to obtain the depth information of barrier; The said depth image that obtains is according to parallax and geometric relationship, obtains the target three-dimensional information; Said target detection is the same with the parallax value of sign and barrier, and utilization is obtained disparity map and identified barrier; It is after obtaining target location coordinate that said target size, distance and direction parameter calculate, and obtains its corresponding piece, and then estimates distance, size and the direction parameter of barrier; Said multi-sensor information fusion is based on stereoscopic vision and obtains the relative position of barrier, direction, size and distance; The range information that obtains in conjunction with ultrasonic sensor; The absolute location information that directional information that electronic compass obtains and GPS obtain further improves range sensing precision and location, the capacity of orientation of blind guiding system.
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Free format text: CORRECT: INVENTOR; FROM: LIU YUNHUI YANG YANGUANG LIU SHUN FAN CAIZHI ZHOU DONGXIANG CAI XUANPING TO: ZHOU DONGXIANG LIU YUNHUI LIU SHUN YANG YANGUANG FAN CAIZHI CAI XUANPING Free format text: CORRECT: ADDRESS; FROM: 213011 CHANGZHOU, JIANGSU PROVINCE TO: 213000 CHANGZHOU, JIANGSU PROVINCE |
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Effective date of registration: 20111213 Address after: 213000 Jiangsu Province, the Clock Tower District, ERON Road, No. 213 High-tech Venture Center, room 1008 Applicant after: Changzhou Hyper Medium and Sensing Technology Institute Co., Ltd. Address before: 213011 1008, hi tech Innovation Service Center, 213 ERON Road, bell tower area, Jiangsu, Changzhou Applicant before: Changzhou Daqi Information Technology Co., Ltd. |
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Owner name: DEFENSIVE SCIENTIFIC AND TECHNOLOGICAL UNIV., PLA Effective date: 20130205 |
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Effective date of registration: 20130205 Address after: 213000 Jiangsu Province, the Clock Tower District, ERON Road, No. 213 High-tech Venture Center, room 1008 Patentee after: Changzhou Hyper Medium and Sensing Technology Institute Co., Ltd. Patentee after: National University of Defense Technology of People's Liberation Army of China Address before: 213000 Jiangsu Province, the Clock Tower District, ERON Road, No. 213 High-tech Venture Center, room 1008 Patentee before: Changzhou Hyper Medium and Sensing Technology Institute Co., Ltd. |
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