A Hierarchical Clustering Obstacle Detection Method Applied to RGB-D Cameras

摘要

Environment perception is a key part of robot self-controlled motion. When using vision to accomplish obstacle detection tasks, it is difficult for deep learning methods to detect all obstacles due to complex environment and vision limitations, and it is difficult for traditional methods to meet real-time requirements when applied to embedded platforms. In this paper, a fast obstacle-detection process applied to RGB-D cameras is proposed. The process has three main steps, feature point extraction, noise removal, and obstacle clustering. Using Canny and Shi–Tomasi algorithms to complete the pre-processing and feature point extraction, filtering noise based on geometry, grouping obstacles with different depths based on the basic principle that the feature points on the same object contour must be continuous or within the same depth in the view of RGB-D camera, and then doing further segmentation from the horizontal direction to complete the obstacle clustering work. The method omits the iterative computation process required by traditional methods and greatly reduces the memory and time overhead. After experimental verification, the proposed method has a comprehensive recognition accuracy of 82.41%, which is 4.13% and 19.34% higher than that of RSC and traditional methods, respectively, and recognition accuracy of 91.72% under normal illumination, with a recognition speed of more than 20 FPS on the embedded platform; at the same time, all detections can be achieved within 1 m under normal illumination, and the detection error is no more than 2 cm within 3 m.