The invention discloses a back-up parking method based on Kinect pose recognition. The back-up parking method comprises five steps of model construction, data acquisition, preprocessing, pose calculation and decision control. According to the model construction, a driver is subjected to model construction in advance, and an identity map and a habitual hand are obtained; the data acquisition adopts a Kinect camera to acquire a depth image of a driver; carrying out identity authentication and orientation judgment on the driver in combination with a constructed model and data collected in real time; the position and posture calculation is combined with a trigonometric function, skeleton coordinate points of the driver are calculated, and obtained angle information serves as a position and posture calculation result; and the decision control analyzes the pose resolving result and drives the vehicle to complete corresponding actions, and finally, the vehicle is backed up to enter the garage. A driver can control the vehicle by adopting different poses outside the vehicle, the problem that the vehicle door cannot be opened after the driver backs up in a narrow space is solved, meanwhile, the scratching phenomenon is reduced, and the safety of backing up the vehicle to enter the garage is greatly improved.
本发明公开了一种基于Kinect位姿识别的倒车入库方法,包括五个步骤:模型构建、数据采集、预处理、位姿解算及决策控制;其中,模型构建对驾驶员作预先的模型构建,获取身份图及惯用手;数据采集采用Kinect相机采集驾驶员的深度图像;预处理结合已构建的模型及实时采集的数据对驾驶员进行身份鉴别及朝向判断;位姿解算结合三角函数,对驾驶员的骨骼坐标点进行解算,所得角度信息作为位姿解算结果;决策控制将位姿解算结果进行解析并驱动车辆完成相应动作,最终完成倒车入库。本发明使得驾驶人员能够在车辆外采用不同位姿完成对车辆的控制,解决了狭窄空间下,驾驶员倒车后无法开启车门的问题,同时也减少了剐蹭现象的发生,大大提高了倒车入库的安全性。
Reversing parking method based on Kinect pose recognition
一种基于Kinect位姿识别的倒车入库方法
2023-06-02
Patent
Electronic Resource
Chinese
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