The invention discloses a collision detection method and device. The method comprises the following steps: acquiring real-time sensing data of a target detection object body; judging the real-time sensing data by utilizing a collision detection model so as to determine whether the target detection object is collided or not; wherein the collision detection model is obtained by the following steps: obtaining historical detection object body sensing data and collision labeling data, and forming a training data set; and learning from the training data set to obtain a collision detection model. By adopting the processing mode, whether the target detection object is collided or not is detected on the basis of the stably obtained target detection object body sensing data, and dependence on unstable target detection object external information (such as visual data) and a low-accuracy obstacle frame provided by a sensing module is avoided; therefore, the accuracy and robustness of collision detection can be effectively improved.
本申请公开了碰撞检测方法和装置。其中,所述方法包括:通过获取目标检测物本体的实时感知数据;利用碰撞检测模型对所述实时感知数据进行判断,以确定所述目标检测物是否受到碰撞;其中,所述碰撞检测模型通过如下方式获得:获取历史检测物本体感知数据和碰撞标注数据,形成训练数据集;从训练数据集学习得到碰撞检测模型。采用这种处理方式,使得基于可稳定获得的目标检测物本体感知数据来检测目标检测物是否发生碰撞,避免依赖不稳定的目标检测物外部信息(如视觉数据)和感知模块提供的准确性较低的障碍物边框;因此,可以有效提升碰撞检测的准确性和鲁棒性。
Collision detection method, device and equipment
碰撞检测方法、装置及设备
2022-05-31
Patent
Electronic Resource
Chinese
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