记笔记

An Approach on Visual Detecting Multi-Targets in the Unstructured and Complex Scenes Based on RGB-D Images

Qimeng Tan¹Yikun Sun²Pengfei Xin¹Yimin Lin³Chao Ma¹Xinyu Wang⁴

1. Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering 2. Propellant Injection Laboratory Beijing Special Engineering Design and Research Institute 3. Institute of Optical Communication &Optoelectronics Beijing University of Posts &Telecommunications 4. School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University

摘要：The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3 D map building and path planning for mobile robot. Traditional algorithms of target detection can be applied to 2 D images without depth information generally, which is disturbed by few factors such as illumination, view and scale easily. Therefore, an approach on visual detecting multi-target of unstructured and complex scenes based on RGBD images is proposed in this article to solve the above problem, which is composed of extracting descriptor of rotation and scale invariance feature, local encoding of targets, random ferns classifier training, Hough map generation, Hough voting theoretical model and local maximum search. Experimental results have shown that the proposed approach reduce the calculation of extracting and matching local feature, improve the accuracy of object recognition and detection in unknown complex environments, be capable of well robust against few disturbing factors i.e. rotation, scale, illumination, occlusion and non-rigid body deformation.

关键词：

Robotic Visual Navigation; RGB-D Image; Target Detection; RFC（Random Ferns Classifier）; RSI-LBF（Rotation and Scale Invariance-Local Binary Feature）;

基金：

supported, in part, by the National Natural Science Foundation of China （No. 51975044）； the Science and Technology on Space Intelligent Control Laboratory （No. HTKJ2019KL502016）； the China Advance Research for Manned Space Project （No. 030601）； the 2019 Practice Training Program of Beijing Information Science and Technology University；

会议名称：

5th International Conference on Automation, Control and Robotics Engineering （CACRE 2020）

会议时间：

2020-09-19

会议地点：

中国辽宁大连