Method and device for recognizing dangerousness of object
First Claim
1. A method of recognizing object dangerousness, comprising:
- a point cloud generation step of generating, based on an image captured by a stereo camera, a heterogeneous point cloud of an object in the image, each point in the heterogeneous point cloud having depth information and planar image information;
a first parameter generation step of determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a solid shape of the object corresponding to the heterogeneous point cloud, and then, generating a first dangerousness parameter according to the solid shape;
a second parameter generation step of determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a surface feature of the object corresponding to the heterogeneous point cloud, and then, generating a second dangerousness parameter according to the surface feature; and
a comprehensive parameter generation step of generating, based on the first and second dangerousness parameters, a comprehensive dangerousness parameter of the object corresponding to the heterogeneous point cloud, wherein, the comprehensive parameter generation step includes;
generating, according to historical information related to recognition accuracies based on the first and second dangerousness parameters and/or surface information of the object, first and second weights of the first and second dangerousness parameters, respectively;
utilizing the first dangerousness parameter and the first weight so as to obtain a weighted first dangerousness parameter, and utilizing the second dangerousness parameter and the second weight so as to obtain a weighted second dangerousness parameter; and
generating, based on the weighted first and second dangerousness parameters, the comprehensive dangerousness parameter.
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Abstract
Disclosed is an object dangerousness recognition method comprising steps of generating, based on an image captured by a stereo camera, a heterogeneous point cloud of an object in the image, each point in the heterogeneous point cloud having depth information and planar image information; determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a solid shape of the object, and then, generating a first dangerousness parameter according to the solid shape; determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a surface feature of the object, and then, generating a second dangerousness parameter according to the surface feature; and generating, based on the first and second dangerousness parameters, a comprehensive dangerousness parameter of the object.
35 Citations
10 Claims
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1. A method of recognizing object dangerousness, comprising:
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a point cloud generation step of generating, based on an image captured by a stereo camera, a heterogeneous point cloud of an object in the image, each point in the heterogeneous point cloud having depth information and planar image information; a first parameter generation step of determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a solid shape of the object corresponding to the heterogeneous point cloud, and then, generating a first dangerousness parameter according to the solid shape; a second parameter generation step of determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a surface feature of the object corresponding to the heterogeneous point cloud, and then, generating a second dangerousness parameter according to the surface feature; and a comprehensive parameter generation step of generating, based on the first and second dangerousness parameters, a comprehensive dangerousness parameter of the object corresponding to the heterogeneous point cloud, wherein, the comprehensive parameter generation step includes; generating, according to historical information related to recognition accuracies based on the first and second dangerousness parameters and/or surface information of the object, first and second weights of the first and second dangerousness parameters, respectively; utilizing the first dangerousness parameter and the first weight so as to obtain a weighted first dangerousness parameter, and utilizing the second dangerousness parameter and the second weight so as to obtain a weighted second dangerousness parameter; and generating, based on the weighted first and second dangerousness parameters, the comprehensive dangerousness parameter. - View Dependent Claims (2, 3, 4, 5, 6, 10)
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7. A device for recognizing object dangerousness, comprising:
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memory storing computer-readable instructions; and one or more processors configured to execute the computer-readable instructions such that the one or more processors are configured to perform operations including, generating, based on an image captured by a stereo camera, a heterogeneous point cloud of an object in the image, each point in the heterogeneous point cloud having depth information and planar image information; determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a solid shape of the object corresponding to the heterogeneous point cloud, and then, to generate a first dangerousness parameter according to the solid shape; determining, based on the depth information and the planar image information of each point in the heterogeneous point cloud, a surface feature of the object corresponding to the heterogeneous point cloud, and then, to generate a second dangerousness parameter according to the surface feature; and generating, based on the first and second dangerousness parameters, a comprehensive dangerousness parameter of the object corresponding to the heterogeneous point cloud, wherein, generating the comprehensive dangerousness parameter includes; generating, according to historical information related to recognition accuracies based on the first and second dangerousness parameters and/or surface information of the object, first and second weights of the first and second dangerousness parameters, respectively; utilizing the first dangerousness parameter and the first weight so as to obtain a weighted first dangerousness parameter, and utilizing the second dangerousness parameter and the second weight so as to obtain a weighted second dangerousness parameter; and generating, based on the weighted first and second dangerousness parameters, the comprehensive dangerousness parameter. - View Dependent Claims (8, 9)
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Specification