The embodiment of the invention discloses an obstacle avoidance method and device, equipment and a storage medium, and the method comprises the steps: scanning a single-line laser radar to acquire first obstacle information of a horizontal plane where the single-line laser radar is located; shooting through a binocular camera to obtain space image information, and obtaining second obstacle information according to the space image information; and merging the second obstacle information into the first obstacle information, and performing obstacle avoidance according to a merging result. An obstacle outside the single-line laser radar scanning surface is supplemented through the second obstacle information acquired by the binocular camera, so that the acquired obstacle information is more comprehensive, the obstacle avoidance accuracy is improved, the equipment cost is saved, and the operand is reduced.

    本发明实施例公开了一种避障方法、装置、设备和存储介质,包括:通过单线激光雷达进行扫描,获取单线激光雷达所位于水平面的第一障碍物信息;通过双目相机进行拍摄获取空间图像信息,并根据空间图像信息获取第二障碍物信息;将第二障碍物信息合并到第一障碍物信息中,并根据合并结果进行避障。通过双目相机获取的第二障碍物信息对单线激光雷达扫描面之外的障碍物进行补充,使得所获取的障碍物信息更加全面,从而提高了避障的准确性,并且节省了设备成本,减少了运算量。


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    Title :

    Obstacle avoidance method and device, equipment and storage medium


    Additional title:

    一种避障方法、装置、设备和存储介质


    Contributors:
    SHA XUEDONG (author) / LIU HONGXUN (author) / HE SONG (author) / XIE YONG (author) / ZHANG XIAOTIAN (author) / SHI TAIPING (author)

    Publication date :

    2020-11-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06K Erkennen von Daten , RECOGNITION OF DATA / 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




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