Continuous frame based blind guiding instrument combination path planning method

Continuous frame based blind guiding instrument combination path planning method

The invention relates to a continuous frame based blind guiding instrument combination path planning method. Specifically, for each frame shot by a binocular camera, global path preview tracking is conducted to determine a local planning target point, local path planning is carried out according to...

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Hauptverfasser: JIN LIYAO, ZHOU YINHE, ZHANG YIDOU, LI XIN, WEI TONG, YUAN LEI
Format: Patent
Sprache:chi ; eng
Schlagworte:
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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creator JIN LIYAO
ZHOU YINHE
ZHANG YIDOU
LI XIN
WEI TONG
YUAN LEI
description The invention relates to a continuous frame based blind guiding instrument combination path planning method. Specifically, for each frame shot by a binocular camera, global path preview tracking is conducted to determine a local planning target point, local path planning is carried out according to the environmental information detected by the camera in real time, a walking direction error angle is output to induce the blind to walk till reaching a global target point. During local path planning, grid visualization is firstly conducted on the environmental information of a current frame, then the A* algorithm is employed for local path planning, and finally a re-weighting method path conversion method is employed to calculate the angular deviation of the current frame walking direction and a local planned path to serve as the input information of a controller for inducing the blind to walk. The invention designs a novel blind guiding instrument combination path planning method, the method can realize real-tim
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subjects GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
title Continuous frame based blind guiding instrument combination path planning method
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