Title:
BLIND GUIDING METHOD AND APPARATUS, AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/245615
Kind Code:
A1
Abstract:
Provided are a blind guiding method and apparatus, and a readable storage medium, being suitable for the technical field of blind guiding. The method comprises: acquiring a first image sequence by means of a camera, the first image sequence comprising a first image at a first moment (201); according to the first image sequence, acquiring an environment map at the first moment and pose information of the camera in the environment map at the first moment (202); identifying a first object in the first image, and acquiring semantic information of the first object and a mask of the first object (203); projecting the mask of the first object into the environment map at the first moment, and acquiring three-dimensional position information of the first object (204); according to the pose information of the camera in the environment map at the first moment and the three-dimensional position information of the first object, acquiring relative pose information between the camera and the first object (205); and broadcasting the relative pose information and the semantic information of the first object (206). The method and apparatus are beneficial for helping visually impaired people to perceive the surrounding environment more accurately, and the reliability of the blind guiding method is improved.
Inventors:
SONG CHENGQUN (CN)
CHENG JUN (CN)
WU FUXIANG (CN)
GUO HAIGUANG (CN)
GAO XIANGYANG (CN)
CHENG JUN (CN)
WU FUXIANG (CN)
GUO HAIGUANG (CN)
GAO XIANGYANG (CN)
Application Number:
PCT/CN2022/101093
Publication Date:
December 28, 2023
Filing Date:
June 24, 2022
Export Citation:
Assignee:
SHENZHEN INST OF ADV TECH CAS (CN)
International Classes:
G01C21/00; A61H3/06; G06T7/73; G06V20/00
Domestic Patent References:
| WO2022077264A1 | 2022-04-21 |
Foreign References:
| CN108168539A | 2018-06-15 | |||
| CN114488244A | 2022-05-13 | |||
| CN113893142A | 2022-01-07 | |||
| CN110522617A | 2019-12-03 | |||
| CN111743740A | 2020-10-09 | |||
| US20220198677A1 | 2022-06-23 |
Other References:
ZHOU FANGBO; ZHAO HUAILIN; LIU HUAPING: "Indoor Mobile Robot Target Search Based on The Scene Graphs", CAAI TRANSACTIONS ON INTELLIGENT SYSTEMS, vol. 17, no. 05, 22 June 2022 (2022-06-22), pages 1032 - 1038, XP009551459, ISSN: 1673-4785
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO.,LTD. (CN)
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