The invention relates to a visual perception method and device. The method comprises the following steps: acquiring a forward image, a lateral image and a backward image of an aircraft; splicing and fusing the forward image, the lateral image and the backward image to obtain a 720-degree panoramic image; performing regional image extraction on the 720-degree panoramic image according to a preset detection frame size to obtain a plurality of detection block diagrams and pixel coordinates of the detection block diagrams in the 720-degree panoramic image; inputting the plurality of detection block diagrams into a pre-trained convolutional neural network model for convolution processing to obtain a plurality of feature diagrams; inputting the feature maps into a pre-trained linear binary classifier to classify and identify whether the plurality of feature maps contain object targets and category names of the object targets; and according to the category name and the pixel coordinate of the object target, marking the object target information at the corresponding position in the 720-degree panoramic image to obtain a panoramic visual perception image with object target marking information. The technical problems of object recognition omission and inaccurate recognition due to the fact that the visual perception range is limited to a certain direction or a single plane can be solved.

    本发明涉及一种视觉感知方法及其装置,包括:获取航空器的前向图像、侧向图像和后向图像;对前向图像、侧向图像和后向图像进行拼接融合得到720度全景图像;按预设检测框尺寸对720度全景图像进行区域图像提取多个检测框图及其在720度全景图像中的像素坐标;将多个检测框图输入预先训练好的卷积神经网络模型进行卷积处理得到多个特征图;将特征图输入预先训练好的线性二分类器进行分类识别多个特征图是否包含物体目标以及物体目标的类别名称;根据物体目标的类别名称以及像素坐标对720度全景图像中的对应位置进行物体目标信息的标注得到带有物体目标标注信息的全景视觉感知图像。本发明能够解决视觉感知的范围局限于某个方向或单一平面存在物体识别遗漏和识别不准确的技术问题。


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    Title :

    Visual perception method and device


    Additional title:

    一种视觉感知方法及装置


    Contributors:
    WU JIAN (author) / SU QINGPENG (author) / LIU JUJIANG (author)

    Publication date :

    2023-02-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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