Title:
MOVING PEDESTRIAN DETECTION METHOD, ELECTRONIC DEVICE AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/111682
Kind Code:
A1
Abstract:
A moving pedestrian detection method, an electronic device and a robot. The moving pedestrian detection method comprises: continuously acquiring a plurality of frames of depth images; pre-processing the depth images and outputting a pre-processed depth map; converting the pre-processed depth map into a three-dimensional point cloud; projecting the three-dimensional point cloud to the ground to generate a height projection map and an intensity projection map respectively, segmenting the height projection map on the basis of a first threshold range to generate a height mask image, and performing threshold segmentation on the intensity projection map to generate an intensity mask image; performing an "AND" operation on the height mask image and the intensity mask image, and outputting a synthesized binary mask image; and performing connected domain analysis on the binary mask image, and outputting several pedestrian candidate blocks.
Inventors:
HUANG YIN (CN)
ZHANG TAO (CN)
GUO CONG (CN)
ZHANG TAO (CN)
GUO CONG (CN)
Application Number:
PCT/CN2021/133933
Publication Date:
June 02, 2022
Filing Date:
November 29, 2021
Export Citation:
Assignee:
SHENZHEN PUDU TECH CO LTD (CN)
International Classes:
G06K9/00
Foreign References:
| CN111144213A | 2020-05-12 | |||
| CN112001298A | 2020-11-27 | |||
| CN108229366A | 2018-06-29 | |||
| CN105760846A | 2016-07-13 | |||
| JP2003284057A | 2003-10-03 | |||
| US20160335491A1 | 2016-11-17 | |||
| US20200364892A1 | 2020-11-19 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
Download PDF: