The invention provides an autonomous valet parking sensing system and method based on an RGBD camera, and the system comprises a static object module which obtains the parameter information of a static object based on a data source obtained by the RGBD camera; the dynamic object module is used for obtaining pose information of a dynamic object based on a data source obtained by the RGBD camera; the target object module is used for obtaining use information of a target object based on a data source obtained by the RGBD camera; and the fusion module is used for carrying out multi-frame fusion under a time sequence based on the parameter information of the static object, the pose information of the dynamic object and the use information of the target object of the single frame so as to realize parking perception. Compared with the existing autonomous valet parking technology, the method overcomes the high dependence on the field end information, can achieve the autonomous exploration and perception of an unknown parking lot, and also has the cost advantage.

    本发明提供一种基于RGBD相机的自主代客泊车感知系统及方法,包括:静态对象模块,所述静态对象模块基于RGBD相机获取的数据源,获取静态对象的参数信息;动态对象模块,所述动态对象模块基于RGBD相机获取的数据源,获得动态对象的位姿信息;目标对象模块,所述目标对象模块基于RGBD相机获取的数据源,获得目标对象的使用信息;融合模块,所述融合模块基于所述单帧的静态对象的参数信息、动态对象的位姿信息和目标对象的使用信息,进行时间序列下的多帧融合,实现泊车感知。本发明与现有的自主代客泊车技术相比,克服了对场端信息的高度依赖,可实现对未知停车场的自主探索感知,同时兼具成本优势。


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    Titel :

    Autonomous valet perception system and method based on RGBD camera


    Weitere Titelangaben:

    一种基于RGBD相机的自主代客感知系统及方法


    Beteiligte:
    YANG MING (Autor:in) / YANG TIANYU (Autor:in) / QIAN YEQIANG (Autor:in) / WANG CHUNXIANG (Autor:in)

    Erscheinungsdatum :

    2023-05-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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